diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..289b552b967a45938def97a74511e64b296f9249 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the leftmost elevator's closed metal doors.", + "Type": 2, + "Start_Pose": [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + [ + -25.524, + -1568.906, + 101.755, + 0.0, + -96.96, + 0.0 + ], + [ + -40.775, + -1693.837, + 101.755, + 0.0, + -96.96, + 0.0 + ], + [ + -56.026, + -1818.769, + 101.755, + 0.0, + -96.96, + 0.0 + ], + [ + -56.026, + -1818.769, + 101.755, + 0.0, + -121.96, + 0.0 + ], + [ + -122.647, + -1925.55, + 101.755, + 0.0, + -121.96, + 0.0 + ], + [ + -122.647, + -1925.55, + 101.755, + 0.0, + -121.96, + 0.0 + ] + ], + "Rationale": [ + "Two elevators face me across the red carpet, and the one on the left is the one whose brushed metal doors are shut, while the other stands open onto a lit cabin. That closed pair of doors is my target, so I will walk straight ahead to begin closing the distance.", + "The elevator with the shut metal doors is now larger and slightly left of center, and open carpet still separates me from its threshold. I will keep walking forward to shorten that gap.", + "The closed metal doors now fill much of my view with the call panel on the pillar to their right, but I am still standing back on the carpet edge. Another step forward should bring me onto the tiled area right in front of them.", + "Advancing has pushed the shut metal doors over to the left side of my view, with the pillar and its call panel filling the center. I will turn left to bring those doors square in front of me before stepping in closer.", + "The shut metal doors are centered ahead of me now, with clear tile floor between us. I will step forward to finish closing that short remaining distance and stand directly at them.", + "The closed metal doors and their seam fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..666caf530a2a04c0867c516df1da0a59f1b41dfd --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000010_y-001444_z000100_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the red fire alarm on the right wall.", + "Type": 2, + "Start_Pose": [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10.273, + -1443.974, + 100.292, + 0.0, + -96.96, + 0.0 + ], + [ + -10.273, + -1443.974, + 100.291, + 0.0, + -71.96, + 0.0 + ], + [ + 28.703, + -1563.646, + 101.776, + 0.0, + -71.96, + 0.0 + ], + [ + 67.679, + -1683.318, + 101.776, + 0.0, + -71.96, + 0.0 + ], + [ + 67.679, + -1683.318, + 101.776, + 0.0, + -46.96, + 0.0 + ], + [ + 153.579, + -1775.305, + 101.776, + 0.0, + -46.96, + 0.0 + ], + [ + 239.479, + -1867.293, + 101.776, + 0.0, + -46.96, + 0.0 + ], + [ + 325.289, + -1928.494, + 101.812, + 0.0, + -46.96, + 0.0 + ], + [ + 357.339, + -1930.75, + 101.742, + 0.0, + -46.96, + 0.0 + ], + [ + 357.339, + -1930.75, + 101.742, + 0.0, + -71.96, + 0.0 + ], + [ + 357.339, + -1930.75, + 101.742, + 0.0, + -71.96, + 0.0 + ], + [ + 357.339, + -1930.75, + 101.742, + 0.0, + -96.96, + 0.0 + ], + [ + 357.339, + -1930.75, + 101.742, + 0.0, + -96.96, + 0.0 + ], + [ + 357.339, + -1930.75, + 101.742, + 0.0, + -96.96, + 0.0 + ] + ], + "Rationale": [ + "From this elevator lobby I need the small red alarm box on the wall to my right, not the extinguisher or the call panels. The right side of my view is cut off by the corner, so I will turn right to bring that wall section into sight.", + "Turning right has opened up the far end of the lobby, where a red extinguisher hangs on the wall past the last elevator and a small red pull box sits on the pale panel nearer the elevator frame. That alarm box is my target, so I will walk forward to close the distance along this side.", + "The small red alarm box on the right wall is now clearly separated from the larger extinguisher beside it, but both are still well down the lobby. I will keep walking forward to bring that wall within reach.", + "Advancing has swung the open elevator doorway into the centre of my view while the alarm box has drifted toward the right edge, near the extinguisher and waste bin. I will turn right to put that wall back in front of me before continuing.", + "The turn has centred the recessed wall panel carrying the small red alarm box, with the extinguisher and the seating alcove just beyond it. The box is still several paces off, so I will walk forward toward it.", + "The alarm box is noticeably larger now and sits on the fluted panel just left of the extinguisher, with the bin marking the base of that wall. I will step forward again to get within arm's length of it.", + "I am close enough that the fluted panel fills much of my view and the red alarm box reads clearly on it, slightly left of centre. A short step forward should bring me right up to that wall.", + "The panelled wall now occupies nearly my whole view and the extinguisher hangs close on my right, so the alarm box must be just above and left of my current gaze. I will edge forward slightly to finish closing on that wall.", + "I am right up against the wall now, and my view is filled by the wooden trim and the extinguisher hanging to my right, with the fluted panel running off to my left. The alarm box belongs on that panel, so I will turn left to face it squarely.", + "The turn has put the ribbed panel across my whole view, but nothing red appears on it because my gaze sits at chest height and the box is mounted higher. I will look up to raise my line of sight along this panel.", + "Raising my gaze has brought a sliver of red into the top left corner of my view, so the alarm box is just past the edge of where I am facing. I will turn left to bring it into the middle of my view.", + "Facing the panel head on, the red box has slipped above the top of my view again, which means it sits higher than my current gaze rather than off to either side. I will look up once more to bring it fully into sight.", + "The red FIRE pull box on this right-hand wall panel is directly in front of me at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..810fbb656c7a6a4d3056d175280a1d4d5e28bab4 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the small wooden side table beneath the table lamp.", + "Type": 0, + "Start_Pose": [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + [ + -94.858, + -1612.626, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -161.404, + -1719.454, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -161.404, + -1719.454, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -266.862, + -1788.149, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -372.321, + -1856.844, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -477.779, + -1925.539, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -477.779, + -1925.539, + 101.76, + 0.0, + -146.92, + 0.0 + ], + [ + -477.779, + -1925.539, + 101.76, + 0.0, + -146.92, + 0.0 + ] + ], + "Rationale": [ + "From this lobby entrance I can see the small wooden side table with the lit table lamp on it far ahead to my left, beside the sofa. It is well across the red carpet, so I will step forward to close the large gap before worrying about fine heading. Advancing straight should also bring that seating alcove into clearer view.", + "The lamp and its wooden table are now noticeably larger at the left of my view, so my previous step did shorten the distance. The floor between me and the alcove is still clear carpet, so I will continue straight to keep closing in. Another step should bring me near enough to turn toward the table.", + "I have come far enough forward that the side table and lamp now sit at the far left edge of my view while the elevator doors dominate straight ahead. Walking forward on this heading would carry me past the alcove instead of toward it. I will turn left to bring the lamp table into the center of my view.", + "The turn has brought the sofa, the lit lamp, and the small wooden table into clear view slightly left of center. The tiled and carpeted floor between me and that alcove looks unobstructed apart from the standing ashtray bin off to the right. I will step forward to keep closing the remaining distance to the table.", + "The wooden side table with the lamp is clearly ahead of me now, its marble top and dark legs plainly visible below the lamp. I am still a couple of steps short of standing beside it. I will move forward again to arrive right at the table.", + "The lamp and the table's marble top now fill much of the left side of my view, so I am nearly beside the target. One more short step should place me directly at the small wooden table rather than just short of it. The wall panel to my right leaves enough room to advance.", + "I am now standing right at the alcove, so close that my level gaze catches mostly the wall panels and only the upper corner of the table and lamp shade. Tilting my head down should let me see the small wooden table and the floor at its base to confirm I am beside it.", + "The small wooden side table with its lamp base is directly beside me, within arm's reach at my left. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f75800b5aed923354c90a1d373bdaeb7a12a7f2c --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_d/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Navigate to the elevator call button panel on the wall.", + "Type": 0, + "Start_Pose": [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + [ + -28.312, + -1505.799, + 101.144, + 0.0, + -96.92, + 0.0 + ], + [ + -43.476, + -1630.741, + 101.826, + 0.0, + -96.92, + 0.0 + ], + [ + -58.64, + -1755.683, + 101.826, + 0.0, + -96.92, + 0.0 + ], + [ + -58.64, + -1755.683, + 101.826, + 0.0, + -71.92, + 0.0 + ], + [ + -19.58, + -1875.328, + 101.826, + 0.0, + -71.92, + 0.0 + ], + [ + -19.58, + -1875.328, + 101.826, + 0.0, + -71.92, + 0.0 + ] + ], + "Rationale": [ + "From here the elevator doors and the small call button panel mounted on the wall beside them sit off to my right, while the lounge sofa fills the left of my view. I will turn right to bring the elevator bank and its wall panel toward the center of my heading before advancing.", + "The elevator bank is now centered ahead of me, with a call button panel on the wall pier between the two door openings. The carpeted floor between me and that wall looks clear, so I will move forward to close the distance.", + "The panel with the floor indicator and its two buttons is clearly larger now, just right of the nearest set of doors, but still beyond comfortable reach. I will continue forward to keep closing on that wall.", + "I am close to the elevator alcove now, and the call button panel sits toward the right edge of my view while the closed doors dominate the center. I will turn right so the panel moves into the middle of my heading for a straight final approach.", + "The call button panel is now roughly in front of me on the wall pier, with clear tiled floor between us. I will move forward to bring it within arm's reach for pressing.", + "The elevator call panel with its lit indicator and up and down buttons fills my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60d8d20544892ea4ef1412a789a54d157d31a6ec --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000028_y-001506_z000101_t0_e/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Move to the red fire alarm box on the wall.", + "Type": 0, + "Start_Pose": [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28.312, + -1505.799, + 101.144, + 0.0, + -121.92, + 0.0 + ], + [ + -94.858, + -1612.626, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -161.404, + -1719.454, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -227.95, + -1826.281, + 101.76, + 0.0, + -121.92, + 0.0 + ], + [ + -293.896, + -1927.04, + 101.827, + 0.0, + -121.92, + 0.0 + ], + [ + -293.896, + -1927.04, + 101.827, + 0.0, + -121.92, + 0.0 + ], + [ + -293.896, + -1927.04, + 101.827, + 0.0, + -121.92, + 0.0 + ] + ], + "Rationale": [ + "From this lobby I can already spot the small red fire alarm box mounted on the pale wall panel left of the elevator doors, roughly straight ahead of me. My heading is close to correct, so I will step forward across the carpet to begin closing the distance to that wall.", + "The red alarm box on the wall panel has grown slightly larger and stays near the center of my view, confirming my heading is aligned with it. I will keep advancing since the open floor between me and that wall is still clear.", + "The wall with the alarm box now dominates my view, with the metal waste bin off to my left and the elevator door on my right, so my line of travel passes cleanly between them. The alarm is still several steps away, so I will advance again.", + "I am close enough now to read the small red alarm unit on the ribbed white wall panel just ahead and slightly above my eye level. One more step forward should bring me right up to the wall at a comfortable standing distance from the box.", + "I am standing right at the wall, but at this range only the bottom corner of the red box shows at the top edge of my view because it is mounted above my eye level. Tilting my gaze upward should bring the whole alarm box into clear view.", + "The red fire alarm box on the wall is fully visible and directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f8b0bf5e40522cacfb9a8946fc4564b8a52f006 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the blue sofa on the right side.", + "Type": 2, + "Start_Pose": [ + -49.608, + 2023.252, + 100.088, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -49.608, + 2023.252, + 100.088, + 0.0, + -89.28, + 0.0 + ], + [ + -48.026, + 1897.403, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -48.026, + 1897.403, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 6.593, + 1784.013, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 61.213, + 1670.624, + 99.957, + 0.0, + -64.28, + 0.0 + ], + [ + 115.832, + 1557.234, + 99.957, + 0.0, + -64.28, + 0.0 + ], + [ + 170.451, + 1443.844, + 99.325, + 0.0, + -64.28, + 0.0 + ], + [ + 225.071, + 1330.455, + 99.325, + 0.0, + -64.28, + 0.0 + ], + [ + 225.071, + 1330.455, + 99.325, + 0.0, + -64.28, + 0.0 + ] + ], + "Rationale": [ + "Down the corridor I can see a blue sofa set against the right-hand wall beside the tall potted palm, which is the one I want. The doorway frame beside me still narrows my view, so I will walk forward along the red carpet to close distance and open up that side of the lobby.", + "The blue sofa under the floor sign sits well off to my right while my heading still points straight down the carpeted corridor. A modest turn to the right should put that sofa near the center of my view so I can walk directly at it.", + "The turn has brought the blue sofa beneath the floor sign into the middle-right of my view, with clear tiled floor between us. I will step forward along that open line to shorten the gap.", + "The sofa against the paneled wall is noticeably larger now, but I am still several strides short of standing at it. The floor ahead stays clear, so I continue walking straight toward it.", + "The sofa and its neighboring palm now fill much of my forward view, with the wooden doors off to my right. Since nothing blocks the tiled approach, I keep advancing toward the seat.", + "I am close enough to make out the cushions and the wooden feet of the sofa, yet still a stride or two away from standing right at it. One more step forward should bring me up to the seat.", + "The sofa now spans nearly my whole view with the floor sign directly above it, so I am almost standing beside it. A final short step should place me right at the seat.", + "The blue sofa's cushions fill my view at arm's length beneath the wall sign. I have arrived at it, so the task is complete and further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0bfe8935a87e252c0a435b77b9a176876b9d1c3f --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the nearest potted plant on the left.", + "Type": 2, + "Start_Pose": [ + -49.608, + 2023.252, + 100.088, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -49.608, + 2023.252, + 100.088, + 0.0, + -89.28, + 0.0 + ], + [ + -48.026, + 1897.403, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -46.445, + 1771.554, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -44.863, + 1645.705, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -44.863, + 1645.705, + 99.838, + 0.0, + -114.28, + 0.0 + ], + [ + -96.616, + 1530.978, + 99.838, + 0.0, + -114.28, + 0.0 + ], + [ + -148.369, + 1416.252, + 99.306, + 0.0, + -114.28, + 0.0 + ], + [ + -200.192, + 1316.412, + 99.229, + 0.0, + -114.28, + 0.0 + ], + [ + -200.192, + 1316.412, + 99.229, + 0.0, + -89.28, + 0.0 + ], + [ + -200.192, + 1316.412, + 99.229, + 0.0, + -89.28, + 0.0 + ] + ], + "Rationale": [ + "Down the corridor two potted ferns flank the carpet, and the nearer one on the left stands against the panelled wall under the red fire extinguisher, so that is my target. Nothing blocks the runner between me and it, so I walk straight ahead to close the distance.", + "The fern beside the fire extinguisher on the left has grown noticeably larger and its pot is now clearly visible, so my heading is good. I keep walking forward along the open floor to shorten the remaining gap.", + "The fern under the fire extinguisher now fills a good part of the left side of my view, but it is still several paces away and off to the side of my straight path. I step forward again to draw level with it before adjusting my heading.", + "The potted fern by the fire extinguisher sits well left of my forward heading, so walking straight would carry me past it down the carpet. I turn left to put it closer to the centre of my path.", + "The fern beneath the fire extinguisher is now roughly ahead of me with open tile between us. I walk forward to close in on it.", + "The fern and its dark pot are much larger now, standing against the wood panel with the extinguisher above it, yet I am still a couple of paces short of it. I step forward again to reach it.", + "The fronds of the potted plant now tower at the right of my view and its pot rim is close to my feet level, so only a short step remains. I advance once more to stand right beside it.", + "I am now right up against the panelled wall with the extinguisher, and the potted plant has slipped to the very edge of my view on the right. I turn right so the plant sits squarely in front of me at this arm's length distance.", + "The potted fern beneath the fire extinguisher fills my view at arm's length. I have arrived at it, so nothing further is needed and I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f25868cf11f1ff8b4eb7bade097ed8b9d5fe36e --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Move to the potted plant on the right side.", + "Type": 2, + "Start_Pose": [ + -49.608, + 2023.252, + 100.088, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -49.608, + 2023.252, + 100.088, + 0.0, + -89.28, + 0.0 + ], + [ + -48.026, + 1897.403, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -46.445, + 1771.554, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -46.445, + 1771.554, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 8.175, + 1658.164, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 62.794, + 1544.775, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 117.414, + 1431.385, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 117.414, + 1431.385, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + 118.842, + 1316.108, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + 118.842, + 1316.108, + 99.838, + 0.0, + -89.28, + 0.0 + ] + ], + "Rationale": [ + "Two leafy potted plants stand where the corridor opens out, one against the far wall by the fire extinguisher and one on the right beside the grey sofa under the floor sign. The sofa marks the one I want, since the plants themselves look alike. I step forward along the red runner to close the distance.", + "The sofa and the plant beside it are larger now but still well down the hall. Nothing blocks the carpeted run in front of me. I keep walking straight to bring that plant within a short final approach.", + "My heading runs straight down the corridor, while the plant beside the sofa sits off to my right of that line. A small turn to the right should put it in front of me so my next steps carry me toward it rather than past it. I turn right.", + "The plant next to the sofa now sits ahead of me with open tiled floor between us. The heading looks good enough to simply close in. I walk forward.", + "The sofa and its plant keep growing in my view and the fronds are now clearly detailed. I am still several paces short of standing beside the pot. Another step forward continues the approach.", + "The potted plant and the sofa arm now dominate the right half of my view, so I am close but not yet alongside the pot. The floor in front of me stays clear. I take another step in.", + "From this close range the sofa fills the middle of my view and the plant has slipped to the left of it, so pressing straight ahead would take me into the couch instead of the pot. A short turn to the left should center the plant's base for a final step. I turn left.", + "The tall potted plant beside the sofa now stands directly ahead with its pot visible at the edge of the carpet. One more step should bring me right up beside it. I walk forward.", + "The plant's fronds fill my view at arm's length, its pot right at my feet beside the sofa. I am standing at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..640b4c917bcee5c7fa56d5c013bc6b43065ffa3f --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000050_y002023_z000100_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the metal bucket at the blue sofa on the right side.", + "Type": 5, + "Start_Pose": [ + -49.608, + 2023.252, + 100.088, + 0, + -89.28, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 189.811, + 1408.742, + 19.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -49.608, + 2023.252, + 100.088, + 0, + -89.28, + 0 + ], + [ + -48.026, + 1897.403, + 99.838, + 0.0, + -89.28, + 0.0 + ], + [ + -48.026, + 1897.403, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 6.593, + 1784.013, + 99.838, + 0.0, + -64.28, + 0.0 + ], + [ + 61.213, + 1670.624, + 99.957, + 0.0, + -64.28, + 0.0 + ], + [ + 115.832, + 1557.234, + 99.957, + 0.0, + -64.28, + 0.0 + ], + [ + 115.832, + 1557.234, + 99.957, + 0.0, + -64.28, + 0.0 + ], + [ + 115.832, + 1557.234, + 99.957, + 0.0, + -64.28, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 189.811, + 1408.742, + 19.275, + 0.0, + 0.0, + 0.0 + ], + [ + 189.811, + 1408.742, + 19.275, + 0.0, + 0.0, + 0.0 + ], + [ + 189.811, + 1408.742, + 19.275, + 0.0, + 0.0, + 0.0 + ], + [ + 189.811, + 1408.742, + 19.275, + 0.0, + 0.0, + 0.0 + ], + [ + 189.811, + 1408.742, + 19.275, + 0.0, + 0.0, + 0.0 + ], + [ + 189.811, + 1408.742, + 19.275, + 0.0, + 0.0, + 0.0 + ], + [ + 134.805, + 1567.051, + 69.381, + -28.202, + -14.135, + 1.862 + ], + [ + 134.805, + 1567.051, + 69.381, + -28.202, + -14.135, + 1.862 + ] + ], + "PD_Dist_2D": [ + 659.5, + 543.5, + 543.5, + 417.6, + 291.8, + 165.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The corridor ahead opens onto a seating alcove on the right where a blue sofa stands with a metal bucket beside it. That target is still far down the hall, so I will walk straight forward along the red carpet to close the gap before turning toward it.", + "The blue sofa and the metal bucket in front of it now sit clearly to my right, while my heading still points down the corridor. I will turn right so the bucket moves toward the center of my view and my forward path leads into that alcove.", + "After the turn the blue sofa and the metal bucket beside it are framed ahead of me instead of off to the side. The floor between us is clear tiling, so I will step forward to shorten the distance toward the bucket.", + "The bucket in front of the blue sofa is noticeably larger in view but still several paces away, too far to reach. My heading remains aimed at it, so I will keep walking forward.", + "The metal bucket now stands prominently just in front of the blue sofa, but it is still short of grasping range. One more step forward should bring me close enough to reach down and take it.", + "I am standing right at the metal bucket, which fills the near foreground beside the blue sofa with nothing between us. This is close enough to grasp it, so I will attempt the pick now.", + "The metal bucket from the blue sofa is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83507d82dab02faaa62788af2a2e37b838518c8d --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the closed elevator doors, then head toward the table lamp near the sofa.", + "Type": 3, + "Start_Pose": [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -99.88, + 0.0 + ], + [ + -35.445, + -1508.482, + 101.469, + 0.0, + -99.88, + 0.0 + ], + [ + -57.041, + -1632.474, + 101.773, + 0.0, + -99.88, + 0.0 + ], + [ + -78.637, + -1756.467, + 101.773, + 0.0, + -99.88, + 0.0 + ], + [ + -100.232, + -1880.459, + 101.773, + 0.0, + -99.88, + 0.0 + ], + [ + -100.232, + -1880.459, + 101.773, + 0.0, + -99.88, + 0.0 + ], + [ + -100.232, + -1880.459, + 101.773, + 0.0, + -74.88, + 0.0 + ], + [ + -100.232, + -1880.459, + 101.773, + 0.0, + -49.88, + 0.0 + ], + [ + -100.232, + -1880.459, + 101.773, + 0.0, + -24.88, + 0.0 + ], + [ + -100.232, + -1880.459, + 101.773, + 0.0, + 0.12, + -0.0 + ], + [ + 25.627, + -1880.195, + 101.773, + 0.0, + 0.12, + -0.0 + ], + [ + 151.485, + -1879.932, + 101.773, + 0.0, + 0.12, + -0.0 + ], + [ + 277.344, + -1879.668, + 101.773, + 0.0, + 0.12, + -0.0 + ], + [ + 403.203, + -1879.405, + 101.773, + 0.0, + 0.12, + -0.0 + ], + [ + 515.613, + -1885.589, + 101.773, + 0.0, + 0.12, + -0.0 + ], + [ + 515.613, + -1885.589, + 101.773, + 0.0, + 0.12, + -0.0 + ] + ], + "Rationale": [ + "From here the lobby shows a pair of shut metal elevator doors off to my left and an open car further right, with the seating area far to the right. I want the closed doors squared up ahead before I walk, so I will turn left to bring them toward the middle of my view.", + "The closed elevator doors now sit near the center of my view across the patterned red carpet, with clear floor between us. I will walk forward to close that distance.", + "The shut doors and their call panel have grown noticeably larger and the carpet edge meets the tiled elevator bay just ahead. Nothing blocks the lane, so I will keep walking straight toward them.", + "The closed doors now dominate the middle of my view and I am already onto the tiled floor of the bay. I am still a few paces short of standing right at them, so I will advance again.", + "The brushed metal panels of the shut doors and the floor indicator beside them are close enough to read clearly. One more step forward should put me right up against them.", + "The seam between the two shut elevator door panels is directly in front of me, their polished surface reflecting the lobby behind. I have reached the closed elevator doors. I mark arriving here before setting off for the table lamp standing beside the sofa.", + "Standing this close, the shut doors block everything ahead, and the lounge with the lamp lies off to my right side of the lobby. I will turn right to swing my view away from the doors and toward that side.", + "So far I have only rotated onto the pale wall pier and the call panel, with the door still edging my left. The lamp and sofa are not in sight yet, so I will turn right again to keep sweeping toward the open lounge.", + "Swinging away from the elevator face has opened a view down the corridor, and I can just make out the lounge area at its far end past the second lift. The sofa and its lamp are still off to my right, so I will turn right again to bring that seating corner into the middle of my view.", + "The blue sofa with a lit lamp on the side table beside it is now visible ahead on the right, but the elevator jamb still crowds the left of my view and my heading is angled across the corridor. One more turn to the right should put that lamp and sofa squarely in front of me for a straight walk.", + "The sofa sits centered under the framed artwork with a table lamp glowing at each end, and the tiled floor between me and it is clear. With my heading now lined up on that seating corner, I will walk forward to close the distance.", + "The sofa and the two lamps have grown noticeably larger, confirming I am tracking straight toward them. Nothing but open floor and the bin against the left wall lies in my path, so I will keep walking forward.", + "The seating corner now fills much of my view, with the lamp on the left side table clearly lit beside the sofa arm. I am still a few paces short of it, so I will continue forward.", + "The lamp on its side table is close now, just left of the sofa arm, though my view is drifting slightly toward the wall and the extinguisher. Another step forward should bring me right up beside that lamp.", + "The lit table lamp and the sofa cushions are within a pace of me, filling the near field of view. One more short step should put me right at the lamp beside the sofa.", + "The lit table lamp stands directly before me at arm's reach beside the sofa. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0ad5dd4e77b820c89be78740887b281eab684e --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the closed elevator doors, then move to the small trash bin.", + "Type": 3, + "Start_Pose": [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + -24.081, + -1539.197, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + -24.081, + -1539.197, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -45.676, + -1663.189, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -67.272, + -1787.181, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -88.868, + -1911.174, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -88.868, + -1911.174, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + -88.868, + -1911.174, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + -88.868, + -1911.174, + 101.814, + 0.0, + -49.88, + 0.0 + ], + [ + -88.868, + -1911.174, + 101.814, + 0.0, + -24.88, + 0.0 + ], + [ + -88.868, + -1911.174, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 36.991, + -1910.91, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 162.85, + -1910.647, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 288.709, + -1910.383, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 397.629, + -1895.103, + 101.826, + 0.0, + 0.12, + -0.0 + ], + [ + 397.629, + -1895.103, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 397.629, + -1895.103, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 397.629, + -1895.103, + 101.826, + 0.0, + -49.88, + 0.0 + ], + [ + 397.629, + -1895.103, + 101.826, + 0.0, + -49.88, + 0.0 + ] + ], + "Rationale": [ + "The elevator bank lies ahead across the red carpet, with a pair of shut metal doors on the left side of the lobby wall. I will walk forward to close the open floor distance before I fine tune my heading. The doors should grow larger and easier to line up.", + "From here the shut metal elevator doors sit well to my left, while the open elevator car and a bin fill the right of my view. Turning left should swing that closed pair toward the middle of my view so I can walk straight at it.", + "The closed elevator doors now sit near the middle of my view with clear carpet leading to them. I will step forward along this heading to shorten the gap. Nothing stands between me and the door recess.", + "The polished shut doors and their call panel are noticeably nearer and still centered in front of me. I will keep walking forward on this line to reach the door threshold. A couple more strides should put me at the recess.", + "The closed doors now dominate my view, with the floor indicator and buttons close on my right. One more step forward should bring me right up to the door face rather than leaving me short of it.", + "The seam of the shut metal elevator doors is directly in front of me, close enough that the lobby only shows as a reflection in the panel. I have arrived at the closed elevator doors. I mark reaching them, then set off toward the small trash bin standing by the lobby wall.", + "Standing this close, the elevator panel blocks nearly everything and the small trash bin is nowhere in my view. It sat back along the wall to my right side of the lobby, so I will turn right to begin swinging my heading off the doors. The open floor should reappear as I rotate.", + "The rotation so far only brought a stone jamb and ribbed wall panel into view, so the bin is still hidden. I will turn right again to keep sweeping my heading away from the door recess toward the open lobby.", + "Right in front of me is the call panel and jamb of the closed elevator doors I came to reach, so nothing more is needed here. Only wall fills my view, so I will keep rotating right to swing my heading back toward the open lobby where a small trash bin should stand.", + "The rotation has opened up the lounge to my right, with a sofa, side tables, and a slim metal bin standing beside the wall near the fire extinguisher. It still sits well off to the side of my heading, so another turn right should bring that bin closer to the center of my view.", + "The lounge now lies ahead of me, with the tall metal bin beside the wall past the sofa and side lamps. The tiled strip along the wall is clear of furniture, so I will walk forward to close the distance to that bin.", + "The bin near the fire extinguisher has grown noticeably larger and sits just left of my path, with the sofa and side table to its right. Nothing blocks the tiled floor between us, so I will keep walking forward toward it.", + "The trash bin is now clearly to my left front, its cylindrical body standing against the paneled wall below the extinguisher. I am still a few paces short of it, so another step forward should bring me alongside it.", + "The bin with its stone-colored top fills the lower left of my view, close enough that its lid detail is sharp. One more step should carry me right up beside it rather than leaving me short.", + "That step brought me level with the bin, and it has slipped out of my view past the left edge while the lamp table and sofa dominate ahead. I will turn left to swing my heading back onto the wall where the bin stands.", + "Facing the wall now, I see the extinguisher and the lamp table but not the low bin, which sits well below my level gaze at this short range. I will look down to bring the floor beside me into view and confirm the bin is right there.", + "My lowered view shows only tiled floor, the side table and the sofa edge on my right, with the small bin still outside the frame to my left. A left turn should bring the bin directly in front of me at close range.", + "The small bin's stone top stands directly before me at the lower left, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e24d10194058435c3385349cff5751466838876 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the elevator call button, then proceed to the side table with lamp on it.", + "Type": 3, + "Start_Pose": [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + -24.081, + -1539.197, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + 8.748, + -1660.699, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + 41.578, + -1782.201, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + 41.578, + -1782.201, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + 19.982, + -1906.193, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + 19.982, + -1906.193, + 101.814, + 0.0, + -99.88, + 0.0 + ], + [ + 19.982, + -1906.193, + 101.814, + 0.0, + -74.88, + 0.0 + ], + [ + 19.982, + -1906.193, + 101.814, + 0.0, + -49.88, + 0.0 + ], + [ + 19.982, + -1906.193, + 101.814, + 0.0, + -24.88, + 0.0 + ], + [ + 19.982, + -1906.193, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 145.841, + -1905.929, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 271.699, + -1905.666, + 101.814, + 0.0, + 0.12, + -0.0 + ], + [ + 391.204, + -1896.934, + 101.826, + 0.0, + 0.12, + -0.0 + ], + [ + 515.858, + -1892.428, + 101.826, + 0.0, + 0.12, + -0.0 + ], + [ + 515.858, + -1892.428, + 101.826, + 0.0, + 0.12, + -0.0 + ] + ], + "Rationale": [ + "From this open stretch of red carpet I can see two elevator doors ahead, with a small call panel mounted on the pillar between them. That panel is my first destination, so I walk straight toward the elevator bank to close the distance.", + "The elevator doors and the call panel on the dividing pillar now fill more of my view, so my heading is good. Nothing blocks the carpet in front of me, so I keep walking forward to reach the panel.", + "I am close enough now to read the lit floor indicator and the two round call buttons on the pillar to my left of the open elevator. I still have several paces of clear floor, so I keep advancing toward that panel.", + "The call panel with its glowing indicator sits off to my left while my heading points into the open elevator doorway instead. I turn left to bring that button panel squarely in front of me before stepping in closer.", + "The button panel with the lit floor number is now centered ahead of me on the pillar face. A short step forward should bring me right up to the call button.", + "The call panel fills my view, its glowing floor number and two round buttons right in front of me at arm's length. I have reached the elevator call button, and I mark reaching it before setting off for the side table with the lamp on it.", + "Standing at the call button I am facing a blank pillar, so I have no view of the lounge seating where the lamp table stands. I turn right to swing my heading away from this wall and back toward the open part of the floor.", + "The panel has slid to the left edge and I now face plain wall paneling with a sliver of brighter space at the right. I continue turning right to bring that opening, and the lounge beyond it, into view.", + "The call panel is now behind my shoulder and my view is still mostly filled by the ribbed wall beside the elevator opening. I need to keep swinging right to bring the open lounge area with its seating into view. I will turn right again to continue clearing this wall from my heading.", + "The lounge is opening up at the right edge, with a lit lamp on a small table beside a sofa and a red patterned carpet. My heading still points along the wall rather than at that seating group. One more turn to the right should place the lamp table near the center of my path.", + "The seating alcove is now squarely ahead, with the sofa flanked by two side tables carrying lit lamps. My heading is clear of the elevator wall and nothing blocks the tiled floor between me and the carpet. I will walk forward to close the gap toward the lamp table.", + "The sofa and the nearer lamp on its wooden side table have grown noticeably larger, so my heading is carrying me straight into the alcove. I am still several strides short of the table itself. I will keep walking forward along the open floor beside the wall.", + "The side table with the lit lamp is now close ahead and slightly left, with the sofa arm just beyond it. Only the waste bin sits near the wall and it is off my line. Another step forward should bring me within arm's reach of that table.", + "The lamp table fills much of my view now, with the shade and the sofa cushions close beside it. I am nearly at it, but still a stride short of standing right at its edge. I will take one more forward step to finish closing on it.", + "The side table with its lit lamp is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..270ecca32d2ac2b21d8bc94dff5c917774f12ea6 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_d/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Navigate to the table lamp near the sofa, then reach the closed elevator.", + "Type": 3, + "Start_Pose": [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -49.88, + 0.0 + ], + [ + 18.467, + -1518.423, + 101.82, + 0.0, + -49.88, + 0.0 + ], + [ + 86.7, + -1617.501, + 101.826, + 0.0, + -49.88, + 0.0 + ], + [ + 167.802, + -1713.745, + 101.826, + 0.0, + -49.88, + 0.0 + ], + [ + 167.802, + -1713.745, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 281.98, + -1766.696, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 396.158, + -1819.647, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 509.442, + -1872.89, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 509.442, + -1872.89, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -49.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -74.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -99.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -124.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -149.88, + 0.0 + ], + [ + 425.618, + -1834.015, + 101.826, + 0.0, + -174.88, + 0.0 + ], + [ + 300.261, + -1845.247, + 101.826, + 0.0, + -174.88, + 0.0 + ], + [ + 174.904, + -1856.479, + 101.826, + 0.0, + -174.88, + 0.0 + ], + [ + 49.547, + -1867.711, + 101.826, + 0.0, + -174.88, + 0.0 + ], + [ + 49.547, + -1867.711, + 101.826, + 0.0, + -149.88, + 0.0 + ], + [ + -58.555, + -1927.113, + 101.826, + 0.0, + -149.88, + 0.0 + ], + [ + -164.818, + -1959.545, + 99.275, + 0.0, + -149.88, + 0.0 + ], + [ + -164.818, + -1959.545, + 99.275, + 0.0, + -149.88, + 0.0 + ] + ], + "Rationale": [ + "From this lobby I can see the elevator doors ahead of me, but the seating area with the glowing lamp is only just clipping the right edge of my view. Since the lamp beside the sofa is where I need to go first, I will turn right to bring that corner properly in front of me.", + "The grey sofa and the small side table with the lit lamp now sit clearly in the right half of my view, past the tall potted plant. The carpeted floor between me and that seating corner is open, so I will walk forward to close the distance.", + "The sofa and the lamp on its side table have grown noticeably larger toward my right, confirming my heading is carrying me into that corner. Nothing blocks the carpet in front of me, so I will keep walking forward.", + "The lamp and its wooden side table are now clearly resolved beside the sofa on my right, but still several paces off. I will advance again to bring myself alongside that corner of the seating area.", + "I have drawn level with the seating recess, and the lamp with its side table now lies off to my right while my heading still points down the elevator wall. I will turn right so the lamp and sofa sit squarely ahead of me before I close in.", + "The turn has centered the seating alcove, with the lit lamp on its table tucked against the sofa's left arm directly ahead. The tiled strip between us is clear, so I will step forward toward the lamp.", + "The lamp and its table now fill much of the middle of my view, with the sofa cushions close on the right. I am not yet standing at the table, so I will keep walking forward to reach it.", + "The lamp stands just ahead of me on its side table beside the sofa, close enough that the shade and the wall panelling behind it dominate my view. One more step forward should put me right at the lamp.", + "The shaded table lamp on the corner side table now fills my view at arm's length, with the sofa cushion just to my right. I have arrived at the lamp beside the sofa. I mark reaching it and now set off for the closed elevator across the lobby.", + "The lamp and its table are directly against my face, and the corner wall behind them leaves no room to pivot cleanly here. I will step back from the table to open up space and bring the surrounding alcove back into view before reorienting toward the elevators.", + "From this short distance I can see the lamp corner again, with the fire extinguisher on the wall to my left and the sofa to my right. The elevator bank lies well behind that left-hand wall, so I will turn left to begin swinging my heading around toward it.", + "The lamp has slid to the right edge and I am now facing blank striped wall with the extinguisher ahead. Nothing of the elevator bank is in sight yet, so I will keep rotating left to carry my heading further around.", + "My view has swept onto the wood pillar and the standing waste bin, still solid wall with no opening. I will continue turning left to keep bringing my heading around toward the elevator side of the lobby.", + "Ahead is only the pale wall with the small fire alarm box and the bin at its base, so I still have more of the turn to make. A bright edge is opening at the far left of my view, and turning left again should carry it toward the centre.", + "The elevator bank has come into view along my left, with metal door frames and the tiled approach beside the red carpet. I will turn left once more to bring that run of elevator doors properly in front of me.", + "The elevators now stand along the right of my view and the carpeted lobby opens away to the left, but my heading still cuts across the wall beside me. One more turn left should line me up down the corridor so I can walk along the bank toward a closed elevator.", + "Facing back down the lobby, I can see the bank of elevator doors running along the right side of the corridor, with the seating area and its lit lamp now off to my left. The tiled strip ahead of me is clear, so I will walk forward to close on the elevators.", + "The elevator bank is closer now, and the nearest set of doors with its call panel sits on my right rather than beside me yet. The lane between the carpet edge and the elevator wall stays open, so I will keep walking forward.", + "A closed elevator with a lit floor indicator is now abreast on my right, but I am still short of standing squarely in front of a door. Another step forward should bring me level with the doorway before I turn toward it.", + "I am now level with a closed elevator whose polished doors sit directly to my right while my heading still runs along the corridor. Turning right should swing that closed doorway into the center of my view so I can walk straight at it.", + "The turn has brought the closed elevator doorway into view ahead of me, with the recessed frame and its call button panel just off my path. There is still a stretch of tile between me and the doors, so I will step forward to close it.", + "The brushed metal panels of the shut elevator now fill much of the view directly ahead, though I am not yet standing at the threshold. One more short step forward should place me right at the closed doors.", + "I am standing right at the shut elevator doors, their metal surface filling my view at arm's length. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72485d2614e2eb89d05e883846a7cb229e6fa90b --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000063_y-001422_z000100_t3_e/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Move to the table lamp, then walk to the open elevator doors.", + "Type": 3, + "Start_Pose": [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + -62.635, + -1422.179, + 99.838, + 0.0, + -49.88, + 0.0 + ], + [ + 18.467, + -1518.423, + 101.82, + 0.0, + -49.88, + 0.0 + ], + [ + 86.7, + -1617.501, + 101.826, + 0.0, + -49.88, + 0.0 + ], + [ + 86.7, + -1617.501, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 200.878, + -1670.452, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 315.056, + -1723.403, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 429.234, + -1776.355, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 506.946, + -1826.809, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 506.946, + -1826.809, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 423.121, + -1787.934, + 101.826, + 0.0, + -24.88, + 0.0 + ], + [ + 423.121, + -1787.934, + 101.826, + 0.0, + -49.88, + 0.0 + ], + [ + 423.121, + -1787.934, + 101.826, + 0.0, + -74.88, + 0.0 + ], + [ + 423.121, + -1787.934, + 101.826, + 0.0, + -99.88, + 0.0 + ], + [ + 423.121, + -1787.934, + 101.826, + 0.0, + -124.88, + 0.0 + ], + [ + 423.121, + -1787.934, + 101.826, + 0.0, + -149.88, + 0.0 + ], + [ + 314.256, + -1851.092, + 101.826, + 0.0, + -149.88, + 0.0 + ], + [ + 314.256, + -1851.092, + 101.826, + 0.0, + -124.88, + 0.0 + ], + [ + 239.843, + -1931.797, + 101.627, + 0.0, + -124.88, + 0.0 + ], + [ + 239.843, + -1931.797, + 101.627, + 0.0, + -124.88, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the lift lobby I can just make out a lamp glowing on a side table beside a sofa at the far right edge of my view, past the potted palm. My current heading points straight at the elevator doors instead, so I will turn right to bring that seating corner in front of me.", + "The seating corner with the sofa and the lit table lamp now sits ahead on my right, across open carpet with nothing blocking the way. I will walk forward to cut down that distance before refining my heading.", + "The sofa and the lamp on its small table have grown larger and shifted toward the middle right of my view, so my line of travel is bringing me closer. I will keep walking forward across the carpet to close more of the remaining gap.", + "The lamp and its side table sit off to my right beside the sofa, while my heading still runs along the lobby toward the open elevator. A right turn should place that lamp near the center of my view so I can walk straight at it.", + "The lamp on the side table now stands roughly ahead of me, beside the sofa under the framed pyramid panels. With clear floor in between, I will step forward to shorten the distance to it.", + "The lamp shade and its wooden table are noticeably bigger now, confirming my heading leads right to them. I will continue walking forward rather than adjust, since nothing stands between me and that corner.", + "The table lamp is close now, its lit shade filling much of the space between the wall panel and the sofa arm. A further step forward should put me right beside it.", + "The lamp and its marble-topped table dominate my view, though I am still a short pace short of standing at them. I will take one more measured step forward to settle right at the lamp.", + "The shaded table lamp on its marble side table now fills my view at arm's length, with nothing left between me and it. I have reached the table lamp, so I mark arriving here before turning back across the lobby toward the open elevator doors.", + "I am pressed right up against the lamp table with the sofa arm crowding my right, so there is no room here to swing around toward the elevators. Stepping straight back should open enough space to rotate cleanly and bring the wider lobby back into view.", + "Backing off has given me the whole seating alcove again, but I am still facing the corner wall with the lamp and the extinguisher. The open elevator bank lies back around to my left, so I begin swinging that way.", + "The lamp table has slid over to my right edge and I am still looking at blank panelled wall and the fire extinguisher. Continuing to rotate left should keep carrying my heading toward the elevator side of the lobby.", + "Now the ash bin and a fire alarm pull box are in front of me, still solid wall with no way through. I keep turning left to sweep past this corner toward the corridor where the elevators stand.", + "The edge of an elevator doorway with its lit wooden interior has just appeared at my far left, which confirms the bank is that way. Another left turn should bring those doors properly in front of me instead of at the rim of my view.", + "I can now see the elevator bank ahead with one car standing open, and the red lobby carpet running along the left. The doorway still sits left of my heading, so a further left turn should line the corridor up with my path.", + "The corridor along the elevator bank is clear in front of me and the open car with its lit wooden interior is a few paces ahead on my right. Walking forward should close most of the remaining distance to those open doors.", + "The open elevator car with its wood-panelled walls and handrails sits to my right, its threshold offset from my current heading. I will turn right so the doorway is centred ahead of me, which should let me walk straight in without clipping the stainless frame.", + "The open elevator doorway is now squarely ahead, with the metal threshold strip and grey mat just a step or two away. I will walk forward to close that remaining gap and reach the open doors.", + "I stand inside the open elevator doors, with the cab's panelled walls and handrails around me. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52470a2faf7e913d238664e8f092a2df03de37fd --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the framed bridge picture on the wall.", + "Type": 0, + "Start_Pose": [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + [ + -122.048, + 1559.223, + 99.275, + 0.0, + 46.04, + -0.0 + ], + [ + -34.682, + 1649.819, + 99.617, + 0.0, + 46.04, + -0.0 + ], + [ + 52.684, + 1740.416, + 99.838, + 0.0, + 46.04, + -0.0 + ], + [ + 52.684, + 1740.416, + 99.838, + 0.0, + 46.04, + -0.0 + ], + [ + 52.684, + 1740.416, + 99.838, + 0.0, + 46.04, + -0.0 + ] + ], + "Rationale": [ + "I can see the framed bridge picture hanging on the corridor wall to my left, while my body is aimed straight down the hallway past it. Turning left should swing my heading toward that wall section so the picture sits nearer the middle of my view before I advance.", + "The bridge picture is now roughly ahead of me on the wall, but still several paces away beyond the wooden pillar and the tall ashtray bin. I will step forward along the open floor to close that distance.", + "The framed bridge picture has grown noticeably and now sits to my left front, so I am closer but not yet standing at the wall. Another step forward should bring me right up beside the picture, with the walkway ahead still clear.", + "I am now standing right beside the picture, and at this short range its top edge is cut off above my line of sight. Tilting my gaze upward should bring the whole bridge picture into clear view to confirm I have reached it.", + "The entire framed bridge picture is clearly visible directly beside me at arm's reach on the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..90dd1bde9af942d6d6a25bc7458bcd61ee25a7c3 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the cylindrical trash bin beside the wall.", + "Type": 0, + "Start_Pose": [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + [ + -122.048, + 1559.223, + 99.275, + 0.0, + 46.04, + -0.0 + ], + [ + -34.682, + 1649.819, + 99.617, + 0.0, + 46.04, + -0.0 + ], + [ + 52.684, + 1740.416, + 99.838, + 0.0, + 46.04, + -0.0 + ], + [ + 107.794, + 1829.352, + 99.838, + 0.0, + 46.04, + -0.0 + ], + [ + 107.794, + 1829.352, + 99.838, + 0.0, + 71.04, + -0.0 + ], + [ + 107.794, + 1829.352, + 99.838, + 0.0, + 71.04, + -0.0 + ] + ], + "Rationale": [ + "From the corridor start I can see the dark cylindrical trash bin standing against the left-hand wall ahead, offset to the left of my current heading. I will turn left to bring it closer to the center of my view so a straight approach down the corridor should line up with it.", + "The trash bin is now roughly ahead beside the wall with the framed bridge picture, and the tiled strip in front of me is clear of obstacles. I will move forward along the corridor to close the remaining distance toward it.", + "The bin has grown noticeably larger and sits just ahead on my left beside the wall, so I am still some steps short of it. I will continue forward to keep shrinking that gap.", + "The cylindrical bin is now large in the lower right of my view, close to the wall but still slightly ahead of my position. One more forward step should bring me right alongside it.", + "I am now right next to the wall and my view is filled mostly by the wall panel, with only the rim of the bin at the lower right edge. I will turn right to bring the bin properly into view and face back along the corridor.", + "The cylindrical trash bin stands directly in front of me beside the wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b64fc5e344428b4c7682b4ef24e3089ce016aaea --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000122_y001559_z000099_t0_d/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the housekeeping cart down the corridor.", + "Type": 0, + "Start_Pose": [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -122.048, + 1559.223, + 99.277, + 0.0, + 71.04, + -0.0 + ], + [ + -81.155, + 1678.254, + 100.197, + 0.0, + 71.04, + -0.0 + ], + [ + -40.263, + 1797.284, + 99.838, + 0.0, + 71.04, + -0.0 + ], + [ + -40.263, + 1797.284, + 99.838, + 0.0, + 96.04, + -0.0 + ], + [ + -53.506, + 1922.445, + 99.838, + 0.0, + 96.04, + -0.0 + ], + [ + -66.749, + 2047.605, + 99.838, + 0.0, + 96.04, + -0.0 + ], + [ + -79.993, + 2172.765, + 100.307, + 0.0, + 96.04, + -0.0 + ], + [ + -79.993, + 2172.765, + 100.307, + 0.0, + 96.04, + -0.0 + ] + ], + "Rationale": [ + "From the start of this carpeted corridor I can see a wheeled housekeeping cart far ahead near the curtained end, slightly right of center in my view. The runner ahead of me is clear of obstructions, so I will step forward along the corridor to begin closing that distance.", + "The cart with its metal rails is now noticeably larger ahead of me, confirming I am on the right heading down this corridor. Nothing blocks the runner between me and the open area near the elevators, so I will continue advancing.", + "The cart sits to the right of my heading, with the upright suitcase and the elevator alcove taking up the center of my view. A modest turn to the right should bring the cart onto my direct line of travel before I continue forward.", + "After turning, the cart is now near the center of my view with its shelves and wheels clearly visible past the suitcase. The floor between us is open, so I will move forward to keep closing on it.", + "I can now make out individual items on the cart's shelves, so I am within a few steps of it. Since it stays aligned ahead of me, I will advance again to reduce the remaining gap.", + "The cart now dominates the near part of my view, with mugs, plates and its handrail close at hand, and the suitcase has slipped to my left. One more forward step should place me directly at the cart.", + "The housekeeping cart is directly in front of me at arm's reach, its shelves and dishes clearly in view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d8bc25c3b61fe4b4c9214b65522d986951c1997f --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_a/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Search for an elevator with its doors closed; once found, proceed to it.", + "Type": 1, + "Start_Pose": [ + -152.924, + -525.82, + 99.299, + 0.0, + -14.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -152.924, + -525.82, + 99.299, + 0.0, + -14.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 10.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 35.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 60.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 85.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 110.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 135.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + 160.12, + -0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -174.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -149.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -124.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -99.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -74.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -49.88, + 0.0 + ], + [ + -69.272, + -617.197, + 99.758, + 0.0, + -49.88, + 0.0 + ], + [ + 13.982, + -651.185, + 99.758, + 0.0, + -49.88, + 0.0 + ], + [ + 13.982, + -651.185, + 99.758, + 0.0, + -74.88, + 0.0 + ], + [ + 57.766, + -763.437, + 99.758, + 0.0, + -74.88, + 0.0 + ], + [ + 57.766, + -763.437, + 99.758, + 0.0, + -99.88, + 0.0 + ], + [ + 36.17, + -887.43, + 99.758, + 0.0, + -99.88, + 0.0 + ], + [ + 14.575, + -1011.422, + 99.838, + 0.0, + -99.88, + 0.0 + ], + [ + -7.021, + -1135.415, + 99.838, + 0.0, + -99.88, + 0.0 + ], + [ + -7.021, + -1135.415, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + 25.808, + -1256.917, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + 58.637, + -1378.419, + 99.838, + 0.0, + -74.88, + 0.0 + ], + [ + 58.637, + -1378.419, + 99.838, + 0.0, + -99.88, + 0.0 + ], + [ + 25.284, + -1492.183, + 99.275, + 0.0, + -99.88, + 0.0 + ], + [ + 3.689, + -1616.175, + 101.793, + 0.0, + -99.88, + 0.0 + ], + [ + -17.907, + -1740.168, + 101.793, + 0.0, + -99.88, + 0.0 + ], + [ + -17.907, + -1740.168, + 101.793, + 0.0, + -124.88, + 0.0 + ], + [ + -89.881, + -1843.416, + 101.793, + 0.0, + -124.88, + 0.0 + ], + [ + -89.881, + -1843.416, + 101.793, + 0.0, + -99.88, + 0.0 + ], + [ + -116.561, + -1932.079, + 101.772, + 0.0, + -99.88, + 0.0 + ], + [ + -116.561, + -1932.079, + 101.772, + 0.0, + -99.88, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a guest room lobby facing two wooden room doors, and neither of them is an elevator. Since no elevator is visible from this heading, I will turn right to begin a steady scan of the surrounding space for a lift landing.", + "The rotation has brought a single guest door and a framed picture into view, still with no elevator car or call button anywhere. I will keep turning right in the same direction to widen the scan toward the corridor opening on that side.", + "Now a long red carpeted corridor stretches to my right with luggage trolley and distant doorways, which is a promising route toward a lift landing but no elevator is confirmed yet. I will continue the right turn to bring that corridor and whatever lies beyond it fully into view.", + "The corridor now runs off to my left while a large wooden panel edge crowds the right side of my view, so this heading gives no new information about elevators. I will keep the same rightward scanning direction to check the remaining unseen sector.", + "My view is almost entirely blocked by a close wood-panelled wall corner, so nothing useful can be judged from this heading. I will continue turning right at the same pace to clear the panel and keep the scan consistent.", + "Past the panel edge I can now see into a guest bedroom with a bed and curtains, which is clearly not where an elevator would be. I will keep rotating right to move beyond this room opening and continue searching for a lift landing.", + "The bedroom interior with its wardrobe and suitcase now fills much of my view, confirming this side of the space is private room area rather than an elevator lobby. I will maintain the rightward scan to pass this room and look for the corridor side again.", + "I am still looking into the same guest room, with the bed and suitcase ahead and no sign of a lift door or call panel. I will continue the consistent right rotation so the scan comes back around toward the hotel corridor where an elevator is more likely.", + "My view now opens into a guest room with a bed, a chair and a suitcase, which is clearly not the elevator area I need. Nothing here resembles a closed elevator, so I will keep rotating right in the same consistent direction to sweep the remaining part of this landing.", + "Most of my view is filled by a tall wooden wardrobe front, with only a slice of the room still visible at the left. This near surface tells me nothing about elevators, so I will continue the same rightward sweep to clear it and reveal the next portion of the surroundings.", + "Past the wood paneling I can now see a numbered guest door marked 301 and, at the right edge, a strip of red carpeted corridor. That corridor is the more promising direction for a lift lobby, so I will turn right again to bring it fully into view.", + "The corridor beside door 301 now stretches ahead with red carpet and a lit passage in the distance, but no elevator with closed doors is visible from this angle. I will keep turning right to finish covering the landing before committing to a direction.", + "I can now see both numbered guest doors, 301 on the left and 303 on the right, which matches the paneled landing I started from, so my sweep has come back around without revealing any elevator. The only unexplored option is the carpeted corridor running away toward the brighter space ahead, so I will turn right once more to line myself up with it.", + "I am now facing along the open tiled strip beside guest door 303, with the red carpeted corridor running off to the left toward a distant lit hall. Since no elevator is visible on this landing, I will step forward to reach that corridor junction and open up the unexplored area ahead.", + "Door 303 is closer now on my right and the corridor to the left has widened into a clearer view of the passage beyond. Still no elevator in sight, so I will continue walking forward to reach the junction where I can look down that corridor.", + "I have arrived beside guest door 303, and the only route worth exploring is the red carpeted corridor running away on my left. I will turn left to face down that corridor so I can walk toward the distant hall and check it for an elevator.", + "The corridor ahead of me runs clear past the guest room doors toward a brighter lobby area where I can make out a recessed bay with metallic panels that look like lift doors. Nothing here beside room 303 matches the target, so I will walk forward along the open red runner to bring that far bay into better view.", + "The bright lobby opening with what appear to be elevator recesses sits slightly to the left of my heading, while the paneled room 303 wall crowds the right side of my view. Turning left should center the corridor and that promising bay so I can walk straight toward it.", + "Now the hallway is squarely centered and I can see two dark recessed door bays flanked by potted plants at its end, which look like an elevator landing. I will step forward along the corridor to close that distance and confirm the doors.", + "The recessed bays at the end of the hall are growing larger and still read as a lift landing rather than guest doors. The path stays clear apart from the rolled runner off to the right, so I will keep walking straight toward it.", + "I can now make out indicator panels above the two recessed doors ahead, which confirms this is the elevator landing I am looking for. I will continue forward to reach the open landing area.", + "I have reached the mouth of the lift lobby, and the elevator doors with their indicator panels sit ahead and slightly across the open area. The corridor wall on my left is beginning to cut off that side, so I will turn right to face into the landing and keep the closed doors in front of me.", + "From this heading the two elevator entrances and the open carpeted landing are clearly laid out ahead of me, with the nearer one showing closed metallic doors. I will walk forward into the lobby to get within reach of them.", + "I am inside the lift lobby now, and the left-hand elevator plainly shows a pair of closed metal doors under its indicator, matching the target. Only a potted plant stands off to the right of my line, so I will step forward again to close in on that elevator.", + "In this lift lobby I can see a metal elevator with its doors fully closed on the left, while the neighbouring car on the right stands open and a tall potted palm crowds the right side of my view. Since the closed doors are the target and they sit to my left, I will turn left to bring them toward the centre of my heading and keep the plant out of my line of travel.", + "The closed elevator doors now sit near the middle of my view with a wide stretch of empty carpet between us. With the target identified and the route clear, I will walk forward to close that distance.", + "The closed doors and their call panel are noticeably larger and still slightly left of my centre, so I remain on a workable line toward them. I will keep stepping forward across the open carpet to shorten the remaining gap.", + "I am close enough now to read the indicator above the shut doors, and the recess holding them is directly ahead of me. Another step forward should bring me right up to the alcove of this closed car.", + "The closed doors fill much of my view but the flanking column and wall panel now sit straight in front of my heading, so pushing forward as I am aimed would take me into the panelling rather than to the doorway. I will turn left to face the open lobby floor beside the alcove, which should let me draw level with the closed car.", + "From this heading the shut elevator doors are just off to my right and the carpeted floor ahead of me is clear. Walking forward should bring me level with the doorway of that closed car.", + "I am now standing right beside the closed elevator, whose smooth doors occupy the right half of my view while I face along the corridor. Turning right should square me up with those shut doors instead of leaving them at my shoulder.", + "The closed elevator doors are now squarely in front of me, filling the centre of my view within the recess. One more step forward should place me directly at this closed elevator as the task requires.", + "The closed elevator's seam and metal panels fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b62f53ddb4e0973789375c9c345a533f378bef --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Identify an elevator that has its doors open, then head over to it.", + "Type": 1, + "Start_Pose": [ + -152.924, + -525.82, + 99.299, + 0.0, + -14.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -152.924, + -525.82, + 99.299, + 0.0, + -14.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -39.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -64.88, + 0.0 + ], + [ + -86.854, + -600.206, + 99.643, + 0.0, + -64.88, + 0.0 + ], + [ + -35.944, + -623.27, + 99.643, + 0.0, + -64.88, + 0.0 + ], + [ + 36.414, + -685.245, + 99.643, + 0.0, + -64.88, + 0.0 + ], + [ + 36.414, + -685.245, + 99.643, + 0.0, + -89.88, + 0.0 + ], + [ + 40.729, + -809.837, + 99.643, + 0.0, + -89.88, + 0.0 + ], + [ + 40.992, + -935.695, + 99.643, + 0.0, + -89.88, + 0.0 + ], + [ + 41.256, + -1061.554, + 99.921, + 0.0, + -89.88, + 0.0 + ], + [ + 35.63, + -1181.669, + 99.838, + 0.0, + -89.88, + 0.0 + ], + [ + 35.894, + -1307.528, + 99.838, + 0.0, + -89.88, + 0.0 + ], + [ + 36.158, + -1433.386, + 100.198, + 0.0, + -89.88, + 0.0 + ], + [ + 25.745, + -1556.255, + 101.732, + 0.0, + -89.88, + 0.0 + ], + [ + 25.745, + -1556.255, + 101.732, + 0.0, + -64.88, + 0.0 + ], + [ + 79.174, + -1670.211, + 101.732, + 0.0, + -64.88, + 0.0 + ], + [ + 132.603, + -1784.166, + 101.732, + 0.0, + -64.88, + 0.0 + ], + [ + 186.032, + -1898.121, + 101.732, + 0.0, + -64.88, + 0.0 + ], + [ + 186.032, + -1898.121, + 101.732, + 0.0, + -64.88, + 0.0 + ] + ], + "Rationale": [ + "I am facing a closed corner of a guest room corridor, with two numbered wooden room doors and no elevator anywhere in view. Since nothing here can satisfy the task, I will turn left to begin a steady scan for a route out of this dead end toward an elevator area.", + "Turning has brought a red carpeted corridor into view on the left, running away toward a brighter open space in the distance, which is a much better lead than the room doors beside me. I will keep turning left in the same direction to bring that corridor and its far opening properly in front of me.", + "The long carpeted corridor is now largely ahead of me, and at its far end I can make out a wider, brightly lit space that likely serves as a lobby or landing area. I will walk forward along this corridor since it is the only promising direction for finding elevators, even though I cannot confirm any yet.", + "I have closed some distance and the far end of the corridor now shows an exit sign and what looks like a wider landing with columns. I will continue walking forward to reach that area, where elevators are most plausibly located.", + "The open landing at the end of the hallway is becoming clearer, with planters and lit panels flanking it, though I still cannot make out any elevator doors from here. I will keep advancing along the corridor to get close enough to judge that space.", + "My heading has drifted so that the corridor runs off to my left while a room door and wall panel fill the right side of my view. I will turn left to square myself with the hallway axis so I can walk straight toward the open landing ahead.", + "I am now centered in the hallway with the carpet running straight ahead toward the lit landing and its exit sign. I will walk forward along this aligned heading to reach that open area and check it for elevator doors.", + "From here I can see the landing ahead more clearly, with columns, planters and what appear to be recessed metal doors that could be the elevators. I will continue walking forward to get near enough to tell which of them is standing open.", + "Down this corridor I can now make out an elevator lobby ahead, with two call panels and what looks like a dark, open doorway on the right side of that bay. The corridor floor stays clear apart from the decorative drum off to the right, so I will keep walking straight to close the distance and confirm which car is open.", + "The lobby entrance with its two potted plants is closer now, and the right-hand elevator still reads as an open recess while the left one shows a flat closed door. Nothing blocks the middle of the corridor, so I will continue straight toward that bay.", + "I am nearly at the threshold of the elevator lobby, with the exit sign overhead and the two cars directly ahead between the pillars. The right car clearly shows an open doorway with interior surfaces visible, so I will step forward into the lobby to reach it.", + "I have entered the elevator lobby and the open car on the right is unmistakable, its lit interior showing past the door line while the left car remains shut. I will walk further across the open carpet to get near that open elevator.", + "Both cars are now squarely in front of me, and the right one is definitely open with its cab walls and handrail visible. I will keep advancing across the lobby to bring myself in front of that open door.", + "Standing close to the bank, the open car sits to the right of my current heading while the closed one is straight ahead of me. I will turn right so the open elevator entrance is centered before I close the last stretch.", + "The open elevator is now roughly centered ahead, its cab interior and threshold plainly visible under the lit call indicator. I will step forward to bring myself right up to that open doorway.", + "I am only a couple of paces from the open car, with its handrail, mirror and floor mat clearly in view through the doorway. I will move forward again to stand directly at the open elevator.", + "The open elevator is directly ahead of me now, with its lit cab, wooden panels, and handrail fully visible through the parted doors. I am still just outside the threshold, so I will step forward once more to close the last bit of distance to this open car.", + "I am standing right at the open elevator, its parted doors and lit interior filling my view. The task is complete, so there is nothing further to do here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..419b4c37c429ca0f1041ef9ae927bc0b57e0e5cb --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000153_y-000526_z000099_t1_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Locate the elevator call button on the hallway wall, the panel used to summon the elevator to this floor; after locating it, go to that spot.", + "Type": 1, + "Start_Pose": [ + -152.924, + -525.82, + 99.299, + 0.0, + -14.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -152.924, + -525.82, + 99.299, + 0.0, + -14.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -39.88, + 0.0 + ], + [ + -152.924, + -525.82, + 99.275, + 0.0, + -64.88, + 0.0 + ], + [ + -86.854, + -600.206, + 99.643, + 0.0, + -64.88, + 0.0 + ], + [ + -35.944, + -623.27, + 99.643, + 0.0, + -64.88, + 0.0 + ], + [ + 36.414, + -685.245, + 99.643, + 0.0, + -64.88, + 0.0 + ], + [ + 36.414, + -685.245, + 99.643, + 0.0, + -89.88, + 0.0 + ], + [ + 40.729, + -809.837, + 99.643, + 0.0, + -89.88, + 0.0 + ], + [ + 40.992, + -935.695, + 99.643, + 0.0, + -89.88, + 0.0 + ], + [ + 41.256, + -1061.554, + 99.921, + 0.0, + -89.88, + 0.0 + ], + [ + 35.63, + -1181.669, + 99.838, + 0.0, + -89.88, + 0.0 + ], + [ + 35.894, + -1307.528, + 99.838, + 0.0, + -89.88, + 0.0 + ], + [ + 36.158, + -1433.386, + 100.198, + 0.0, + -89.88, + 0.0 + ], + [ + 25.745, + -1556.255, + 101.732, + 0.0, + -89.88, + 0.0 + ], + [ + 26.009, + -1682.114, + 101.732, + 0.0, + -89.88, + 0.0 + ], + [ + 26.272, + -1807.973, + 101.732, + 0.0, + -89.88, + 0.0 + ], + [ + 26.304, + -1932.375, + 101.732, + 0.0, + -89.88, + 0.0 + ], + [ + 26.304, + -1932.375, + 101.732, + 0.0, + -114.88, + 0.0 + ], + [ + 26.304, + -1932.375, + 101.732, + 0.0, + -114.88, + 0.0 + ] + ], + "Rationale": [ + "From here I only see two guest room doors set into a wood paneled dead end, with a room number plate but no elevator call panel anywhere on these walls. Since the lift lobby cannot be in this closed corner, I will turn left to open up the rest of the floor and look for a corridor leading away.", + "Turning has revealed carpeted floor continuing off to the left with a lit passage and what looks like a wider space far beyond, while the near walls still only carry guest room doors. I will keep rotating in the same direction so that corridor comes properly into view and I can judge whether it leads toward a lift lobby.", + "The hallway now runs ahead of me past the numbered guest doors toward a brighter open area in the distance, which is the most likely place for an elevator landing on this floor. No call panel is readable from this distance, so I will walk forward along the corridor to close the gap and get a clearer look.", + "The corridor ahead has grown wider in my view and the lit area at its end is becoming clearer, though the walls beside me still show only guest room doors. Continuing forward should bring that far space close enough to confirm whether it holds the elevators and their call panel.", + "I am now beside the 303 door with the corridor still running toward the illuminated area in the distance. Another step forward keeps me on the most promising route toward that open space rather than lingering in the guest room section.", + "My heading is angled toward the paneled wall and the 303 door on my right, while the open hallway with its exit sign and the distant lobby lies off to my left. Turning left should square me with the corridor axis so I can walk straight down it toward that far space.", + "The turn has centered the corridor, and I can now see straight down it to a bright end space with columns and a green exit sign above. I will walk forward along this straight run since that far area is the most plausible location for the elevators and their call panel.", + "The far end is resolving into an open landing with pale columns and recessed doorways that look like lift openings rather than guest rooms. I will keep walking straight ahead to reach that landing, where the wall mounted call panel should become visible.", + "Straight down the corridor ahead I can see the elevator lobby opening up, with two metal lift doors and their indicator panels framed between the potted plants. That lobby is where a hall call panel would be mounted, so I keep walking toward it along the runner carpet, which is clear of obstructions.", + "The elevator alcove is noticeably closer now, and I can make out the pale wall pier that separates the two lift doors, which is the usual place for a call panel. I continue straight ahead to close the remaining corridor distance before I try to pick out the buttons.", + "I am about to pass through the corridor opening into the elevator lobby, with the planters flanking the doorway on either side of my path. Walking forward again should bring me fully into the bay where the call panel between the two lifts becomes readable.", + "I am now inside the elevator lobby, and the wall pier between the two lift doors shows a small vertical fixture that looks like the hall call panel. I step forward to keep closing on that pier, since I am still too far back to be at the panel's spot.", + "The panel between the two elevator doors is clearer now, showing a floor digit above a pair of round buttons. That confirms it as the hall call station, so I keep advancing straight toward it across the lobby carpet.", + "The call panel on the pier between the lifts is centered in my view with its illuminated floor number and two buttons plainly visible. I move forward again to shorten the last stretch and stand right at that spot on the wall.", + "I am close to the pier now, with the call panel's display and its up and down buttons filling a good part of my view. One more step forward should place me directly at the panel rather than a short distance away from it.", + "The call panel is right in front of me on the pier, though it sits slightly to my left of center as the wall fills my view. I take one more short step in to finish closing the gap to the panel's position on the wall.", + "I am now right against the pier between the two lifts, and the call panel with its floor indicator and round buttons is cut off at the left edge of my view. A small left turn should bring that panel fully into the center of my view so I am squarely facing the call point.", + "The elevator call panel with its floor indicator and up and down buttons fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000170_y001500_z000099_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000170_y001500_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d2c50bcf95e136089f073aae24ad80e0a2c004 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000170_y001500_z000099_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the gold-framed luggage cart with a red base platform standing near the elevator doors on the 3F hotel lobby, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -170.054, + 1499.954, + 99.275, + 0.0, + -154.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -170.054, + 1499.954, + 99.275, + 0.0, + -154.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + -129.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + -104.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + -79.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + -54.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + -29.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + -4.88, + 0.0 + ], + [ + -170.044, + 1499.812, + 99.275, + 0.0, + 20.12, + -0.0 + ], + [ + -51.395, + 1540.267, + 99.658, + 0.0, + 20.12, + -0.0 + ], + [ + 66.783, + 1583.561, + 99.658, + 0.0, + 20.12, + -0.0 + ], + [ + 156.472, + 1600.533, + 99.19, + 0.0, + 20.12, + -0.0 + ], + [ + 156.472, + 1600.533, + 99.19, + 0.0, + 20.12, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a closed wooden double door, a standing ashtray bin and a sofa edge at my left, with no sign of a gold luggage cart. Since the elevator area is not in front of me, I will turn right to begin a steady scan of this floor for the cart.", + "The rotation has brought a paneled wall, a fire extinguisher and a tall plant into view, but still no gold-framed cart with a red base. I will keep turning right in the same direction to extend the scan toward the part of the lobby I have not yet inspected.", + "A red patterned carpet and a lit exit sign have opened up on my right, which tells me the main circulation area of this floor lies that way. No luggage cart is visible yet, so I will continue turning right toward that open corridor space.", + "The corridor with its red runner stretches ahead between potted palms, but the far end is partly screened by foliage and I still cannot see any gold cart. Keeping the same rotation direction, I will turn right again to reveal the lobby side beyond the plants.", + "Now I see the open lobby area with a grey sofa, a wall panel and another set of doors, yet the gold-framed cart is not among them. I will turn right once more to bring the remaining stretch of wall beside the doors into view.", + "At the very right edge of my view I can just make out a curved gold frame on wheels, which matches the luggage cart I am looking for. I will turn right to bring that object fully into my field of view and confirm it.", + "The gold-framed luggage cart with its red base platform is now clearly visible to the right of the double doors, near the 3F lobby wall. It still sits off to my right rather than straight ahead, so I will turn right once more to line my heading up with it before walking over.", + "The gold luggage cart with its red platform now sits close to the center of my view with clear tiled floor between us and no obstacle in the way. I will walk forward along this heading to close the distance to it.", + "The gold-framed luggage cart with the red base platform is clearly ahead of me, standing against the wood-panelled column beside the closed elevator doors. It still sits several steps away and only fills a modest part of my view, so I will keep walking straight toward it to close the remaining gap.", + "The luggage cart now dominates the center of my view, its brass frame and red base close on my left front, confirming my heading is right. I am still slightly short of standing beside it, so one more step forward should bring me within arm's reach.", + "The gold-framed cart with its red base fills my view directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba1d9a58bd4a24450f43375155ecffcf61b63f17 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the left wooden door.", + "Type": 2, + "Start_Pose": [ + -191.172, + 2650.74, + 99.275, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -191.172, + 2650.74, + 99.275, + 0.0, + -35.52, + 0.0 + ], + [ + -88.734, + 2577.618, + 99.838, + 0.0, + -35.52, + 0.0 + ], + [ + 13.705, + 2504.495, + 99.838, + 0.0, + -35.52, + 0.0 + ], + [ + 116.143, + 2431.373, + 99.838, + 0.0, + -35.52, + 0.0 + ], + [ + 209.069, + 2360.232, + 99.275, + 0.0, + -35.52, + 0.0 + ], + [ + 206.127, + 2309.533, + 99.275, + 0.0, + -35.52, + 0.0 + ], + [ + 206.127, + 2309.533, + 99.275, + 0.0, + -35.52, + 0.0 + ] + ], + "Rationale": [ + "Two wooden doors face me across the corridor, and the left one is the one I want; it carries the 311 plaque beside its frame, a green tag on its handle, and a green suitcase parked in front of it. Those markings let me track it without recounting the pair. I walk forward to close the open floor between us.", + "The 311 plaque and the green tag on the handle are now clearly readable, confirming I am tracking the right door. It still sits well ahead across tiled floor. I continue walking straight toward it.", + "The door with the 311 plaque now dominates my view, while the other door has slipped out of sight behind the wall panels. I am still a few paces short of standing at it. I keep moving straight ahead.", + "The angled wooden panelling of the 311 door and its lever handle with the green tag are close and centred slightly left. A short stretch of tile still separates me from it. I step forward again to close that remaining gap.", + "I am nearly at the 311 door, with its planks and the tagged handle filling my view at close range. One short step should bring me right up against it, within reach of the handle. I advance that last bit.", + "The 311 door's handle, card reader and green tag are directly in front of me at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..32fbb1fc4a20d5b51681a2a81444164870ea2ec9 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Head toward the second wooden door from the right.", + "Type": 2, + "Start_Pose": [ + -191.172, + 2650.74, + 99.275, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -191.172, + 2650.74, + 99.275, + 0.0, + -35.52, + 0.0 + ], + [ + -88.734, + 2577.618, + 99.838, + 0.0, + -35.52, + 0.0 + ], + [ + 13.705, + 2504.495, + 99.838, + 0.0, + -35.52, + 0.0 + ], + [ + 116.143, + 2431.373, + 99.838, + 0.0, + -35.52, + 0.0 + ], + [ + 209.069, + 2360.232, + 99.275, + 0.0, + -35.52, + 0.0 + ], + [ + 209.069, + 2360.232, + 99.275, + 0.0, + -35.52, + 0.0 + ] + ], + "Rationale": [ + "Two wooden doors face me along this corridor wall, so counting from the right end the second one is the door marked 311 with the green tag on its handle. That number plate and hanger let me follow it directly from here. I will walk forward to close the gap.", + "The door with the 311 plaque and green handle tag is now larger and set slightly ahead on my right, so my heading is still good. Nothing blocks the tiled strip in front of me. I will keep walking toward it.", + "The other door has slid out of my view as I close in, but the 311 plaque and the green hanger keep my target unmistakable ahead of me. The approach lane is still clear. I will continue forward.", + "The 311 door now fills most of my view with its handle and green tag just to my left, so only a short gap remains. One more step should bring me within arm's reach of it.", + "The 311 door with its green handle tag stands directly before me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1464a71bd79f488c5ad504cf763ce70b0707f305 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000191_y002651_z000099_t2_c/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move to the second wooden door from the left.", + "Type": 2, + "Start_Pose": [ + -191.172, + 2650.74, + 99.275, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -191.172, + 2650.74, + 99.275, + 0.0, + -35.52, + 0.0 + ], + [ + -191.172, + 2650.74, + 99.275, + 0.0, + -10.52, + 0.0 + ], + [ + -67.429, + 2627.761, + 99.737, + 0.0, + -10.52, + 0.0 + ], + [ + 56.315, + 2604.782, + 99.737, + 0.0, + -10.52, + 0.0 + ], + [ + 180.058, + 2581.802, + 99.47, + 0.0, + -10.52, + 0.0 + ], + [ + 180.058, + 2581.802, + 99.47, + 0.0, + -10.52, + 0.0 + ] + ], + "Rationale": [ + "Two wooden doors sit along the panelled wall to my right, and counting from the left, my target is the farther one, the door that stands next to the corner column. It currently sits well off to the right of my heading, so I will turn right to bring that door in front of me before walking.", + "The door beside the corner column now lies just right of my heading with clear tiled floor between us. Nothing blocks the way, so I will step forward to close that distance.", + "The door next to the corner column has grown noticeably larger and its lever handle is already distinct, so I am still on line for it. I will keep walking forward to shorten the remaining gap.", + "The wall is close enough now that the neighbouring door has slid to the edge of my view and the panelling no longer reads as a countable row, but the door beside the corner column fills the centre ahead of me. One more step forward should place me right at its face.", + "The lock plate and lever of the target door fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38a2176885f30069251a1f77ef313de52676111d --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the gold luggage cart, then head toward the blue sofa.", + "Type": 3, + "Start_Pose": [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 123.131, + 1511.851, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 234.027, + 1553.938, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + 234.027, + 1553.938, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + 234.027, + 1553.938, + 99.275, + 0.0, + -3.88, + 0.0 + ], + [ + 234.027, + 1553.938, + 99.275, + 0.0, + -28.88, + 0.0 + ], + [ + 234.027, + 1553.938, + 99.275, + 0.0, + -53.88, + 0.0 + ], + [ + 308.028, + 1452.156, + 99.275, + 0.0, + -53.88, + 0.0 + ], + [ + 308.028, + 1452.156, + 99.275, + 0.0, + -78.88, + 0.0 + ], + [ + 332.302, + 1328.66, + 99.275, + 0.0, + -78.88, + 0.0 + ], + [ + 332.302, + 1328.66, + 99.275, + 0.0, + -78.88, + 0.0 + ] + ], + "Rationale": [ + "The gold luggage cart stands ahead of me down the tiled corridor, beside the wooden column under the fire extinguisher. The floor between us is clear, so I will walk forward to close that distance.", + "The gold cart with its red deck is noticeably larger and still centered slightly right of my heading, confirming my line is good. I will keep walking forward toward it.", + "The luggage cart now dominates the right half of my view, its gold frame and red platform clearly detailed against the panelled wall. A few more paces should bring me right up beside it, so I keep moving forward.", + "The cart's tall gold uprights and red deck fill much of my view, meaning only a short gap is left. I will step forward once more to stand right at it.", + "The gold luggage cart is right in front of me, its polished posts and red deck filling my view at arm's length. I have arrived at the luggage cart. I mark reaching it, then set off for the pale blue sofa across the corridor.", + "Standing at the cart, its gold frame blocks nearly everything straight ahead, and the blue sofa lies back around to my left along the corridor. I will turn left to swing my heading off the cart and toward that side of the space.", + "The turn has pushed the cart to my right edge and opened up the wooden double doors ahead, but the blue sofa is still not in view. I will turn left again to keep sweeping toward where it should be.", + "The pale blue sofa has just come into the left edge of my view beside the double doors. Another left turn should bring it closer to the center of my heading before I walk toward it.", + "The pale blue sofa now sits clearly ahead on my left, beneath the floor sign, with open tile between me and it. I will walk forward to close that gap and bring the sofa within reach of my final approach.", + "From here the sofa has slid to the left edge of my view while the door panel dominates the right side of my heading. Turning left should swing the couch back toward the center so I can advance straight at it.", + "The blue sofa is now squarely centered in front of me with its cushions and the floor sign directly ahead. A short walk forward should bring me right up to it.", + "The blue sofa's cushions fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e21920affcc4343e6c0abf6181213f8ed3070f --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the red fire extinguisher on the column, then move to the blue sofa.", + "Type": 3, + "Start_Pose": [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + 46.12, + -0.0 + ], + [ + 92.966, + 1557.22, + 99.841, + 0.0, + 46.12, + -0.0 + ], + [ + 92.966, + 1557.22, + 99.841, + 0.0, + 46.12, + -0.0 + ], + [ + 92.966, + 1557.22, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 92.966, + 1557.22, + 99.841, + 0.0, + -3.88, + 0.0 + ], + [ + 92.966, + 1557.22, + 99.841, + 0.0, + -28.88, + 0.0 + ], + [ + 92.966, + 1557.22, + 99.841, + 0.0, + -53.88, + 0.0 + ], + [ + 167.157, + 1455.553, + 99.457, + 0.0, + -53.88, + 0.0 + ], + [ + 241.348, + 1353.886, + 99.457, + 0.0, + -53.88, + 0.0 + ], + [ + 241.348, + 1353.886, + 99.457, + 0.0, + -53.88, + 0.0 + ] + ], + "Rationale": [ + "The red fire extinguisher is clearly mounted on the wood-panelled column ahead on my right, and the pale blue sofa sits further back along the left wall. The extinguisher is my nearer goal, so I will walk forward across the tiled floor to close the gap toward that column.", + "The extinguisher on the column has grown noticeably larger and the luggage cart beside it is now clearly separated from the wall, confirming I am gaining ground. Nothing blocks the tiled floor between me and that column, so I will keep walking straight ahead.", + "I am close to the column now, but the red extinguisher has drifted high and off to my right while my heading points down the tiled corridor toward the double doors. A turn to the right should swing the extinguisher toward the center of my view so I can walk straight at it.", + "The turn has brought the red extinguisher and its column near the middle of my view, with clear floor between the luggage cart and the corner. One more step forward should put me right beside the extinguisher.", + "The red extinguisher now looms directly overhead at the edge of the wood-panelled column, close enough that only its lower body fills my view. I have arrived at the extinguisher on the column. I mark reaching it and now set off for the pale blue sofa by the double doors.", + "Standing at the column, my view is filled by panelling and the extinguisher, with the open lobby and its seating lying back around to my left. I will turn left to swing away from this wall and begin bringing the blue sofa side of the room into view.", + "The turn has opened up the luggage cart and the wooden double doors on the left, but the pale blue sofa is still outside my view. I will keep turning left to bring that side of the lobby in front of me.", + "The edge of the pale blue sofa has just appeared at the far left of my view beside the double doors, so my heading is still short of it. Another turn to the left should place the sofa squarely ahead for a straight walk over.", + "The blue sofa sits against the wall at the far left of my view, while the wooden double doors still occupy the center of my heading. One more turn to the left should bring the sofa near the middle of my view so I can walk straight at it.", + "The blue sofa is now roughly centered ahead of me, with the potted plant beside it and clear tiled floor in between. Nothing blocks that lane, so I will step forward to close the remaining distance.", + "The sofa now fills much of my view and its cushions and wooden feet are clearly resolved, but I am still a stride short of standing right at it. I will advance once more to finish closing on it.", + "The blue sofa is directly in front of me, close enough to touch its cushions. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b466f2138f7e37193cc51adc3f366be62d6b523 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_c/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Head toward the double wooden doors, then proceed to the bridge painting on the wall.", + "Type": 3, + "Start_Pose": [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveBackward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + -3.88, + 0.0 + ], + [ + 131.297, + 1457.985, + 99.515, + 0.0, + -3.88, + 0.0 + ], + [ + 256.868, + 1449.469, + 99.515, + 0.0, + -3.88, + 0.0 + ], + [ + 382.438, + 1440.952, + 99.515, + 0.0, + -3.88, + 0.0 + ], + [ + 382.438, + 1440.952, + 99.515, + 0.0, + -3.88, + 0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + -3.88, + 0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + 21.12, + -0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + 46.12, + -0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + 71.12, + -0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + 96.12, + -0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + 121.12, + -0.0 + ], + [ + 290.25, + 1447.205, + 99.515, + 0.0, + 146.12, + -0.0 + ], + [ + 185.761, + 1517.365, + 99.515, + 0.0, + 146.12, + -0.0 + ], + [ + 81.272, + 1587.526, + 99.836, + 0.0, + 146.12, + -0.0 + ], + [ + 81.272, + 1587.526, + 99.836, + 0.0, + 121.12, + -0.0 + ], + [ + 81.272, + 1587.526, + 99.836, + 0.0, + 96.12, + -0.0 + ], + [ + 81.272, + 1587.526, + 99.836, + 0.0, + 71.12, + -0.0 + ], + [ + 105.79, + 1702.213, + 99.838, + 0.0, + 71.12, + -0.0 + ], + [ + 107.704, + 1820.156, + 99.838, + 0.0, + 71.12, + -0.0 + ], + [ + 107.704, + 1820.156, + 99.838, + 0.0, + 46.12, + -0.0 + ], + [ + 107.704, + 1820.156, + 99.838, + 0.0, + 21.12, + -0.0 + ], + [ + 107.704, + 1820.156, + 99.838, + 0.0, + -3.88, + 0.0 + ], + [ + 107.704, + 1820.156, + 99.838, + 0.0, + -3.88, + 0.0 + ], + [ + 15.516, + 1826.408, + 99.838, + 0.0, + -3.88, + 0.0 + ], + [ + 107.585, + 1818.829, + 99.838, + 0.0, + -3.88, + 0.0 + ], + [ + 107.585, + 1818.829, + 99.838, + 0.0, + -3.88, + 0.0 + ] + ], + "Rationale": [ + "The pair of wooden doors stands across the tiled floor ahead and slightly to my left, past the luggage cart. Nothing blocks the open tile between me and them, so I will walk forward to cut the distance before worrying about heading.", + "The doors have grown noticeably larger and the tiled floor ahead of me is still clear. Another step forward should bring me well inside this alcove before I adjust my facing toward them.", + "My heading has drifted so that the doors now sit off to the left edge of my view while the luggage cart and paneled column fill the center. Turning left should swing the doorway back in front of me so I can walk straight at it.", + "The two wooden doors now sit squarely ahead of me in their recessed frame, with the sofa well to my left and the cart to my right. With the path lined up, I will walk straight forward to close on them.", + "The doors fill much more of my view now and their handles are becoming distinct, so I am still short of standing at them. I will keep walking straight ahead to reach the doorway itself.", + "The pair of wooden doors now fills my view straight ahead, so I am nearly on top of them. One more step should bring me right up to the leaves and their handles, close enough to count as standing at them.", + "The two wooden door leaves and their lever handles fill my view at arm's length, with nothing but the doors ahead. I have reached the double wooden doors. I mark reaching them and now set off for the bridge painting hanging on the wall.", + "Standing this close, the door panels block everything and I cannot see any of the surrounding walls where a framed picture might hang. Backing up a step should open my view and give me room to turn without scraping the doorframe.", + "With a little distance regained, the doors still occupy the whole frame and no artwork is visible from this heading. Turning right should swing my view off the doors and back toward the open, carpeted side of the floor where framed pictures hang.", + "The doors have slid to my left edge and I now see only a corner with a bin and the luggage cart, no framed picture yet. I will keep rotating right to bring the open carpeted area into view.", + "The wooden doors sit behind my left shoulder now, and my view is filled by the brass luggage cart, a bin and blank paneling, with no artwork anywhere in it. I will keep rotating right to swing my heading off that doorway alcove toward the open floor where wall pictures are likely hung.", + "The luggage cart now stands squarely in front of me against plain striped paneling, so this heading offers nothing to walk toward or inspect. Turning right again should carry my gaze past the cart to whatever lies beyond the alcove.", + "Past the wooden column with the fire extinguisher, a red carpeted corridor is opening on my right, and I can just catch a framed picture on its far wall. I will turn right once more to bring that corridor and its artwork properly in front of me.", + "The carpeted corridor with its wall lamps and framed picture is coming into view, but the paneled column and extinguisher still block my left side and the open route lies off to my right. Another turn right should square me with that passage so I can walk it and check the pictures for a bridge scene.", + "Now the corridor is open ahead of me, with framed pictures spaced along the left wall, a sofa and further doors beyond, and no obstruction on the floor. I will walk forward to close on those hanging pictures and look for the bridge scene among them.", + "The framed picture on the wall to my left shows a mountain landscape, not a bridge, so this is not what I am looking for. The tiled floor beside the red runner is clear ahead, so I walk on to bring more of this corridor's wall art into view.", + "A paneled wall and the sofa recess now fill the space directly in front of me, so continuing straight leads into that wall. The red carpet runs away to my left, marking the passage that continues. I turn left to swing my heading toward that open route.", + "The long carpeted corridor is now opening on my left, running toward the far chandelier and the luggage trolley, but it still sits off to the side of my heading. I turn left again to bring that passage and its picture-hung walls squarely in front of me.", + "Two framed pictures hang along this corridor, and the one on my left edge shows pale towers over water rather than the hillside scene on the right. I turn left once more to place that left-hand picture in front of me so I can judge whether it is the bridge.", + "The gold-framed picture with the pale bridge and water is now ahead of me on the left wall, but it is still too far off to read clearly. The carpeted floor between us is unobstructed, so I walk forward to close that distance.", + "The gold-edged painting hangs close on my left, but the corridor still runs on past the urn toward the luggage and cart. I will walk forward once more to draw level with that artwork before turning to face it.", + "Advancing has carried the painting behind my left shoulder, leaving only blank panelling and the urn in front of me. I will turn left to swing my heading back onto the wall where that artwork hangs.", + "Only the gilded corner of the painting has come back into the far left of my heading, so I am still angled too far down the corridor. Another left turn should bring the artwork nearer the middle of where I am facing.", + "The gilded corner and a sliver of the dark scene now sit in the upper left, so I am close to square with the wall but not yet facing the painting head on. I will turn left once more to place it directly in front of me.", + "Squared to the wall, I am aimed at the gold molding along the painting's lower edge and the striped wallpaper below it, so my gaze is riding too low. I will look up to raise it onto the scene inside the painting.", + "I am pressed so close to the framed picture that only a smear of canvas and its gilt edge fill my view, too near to confirm the bridge scene. I have clearly closed in past a useful standing distance. I will step back to regain some separation from the wall.", + "With distance regained, the wall ahead now shows the framed painting of the suspension bridge over water, centered in front of me. I am a little farther from it than I want for arrival. I will walk forward to settle right at the picture.", + "The framed bridge painting fills my view directly ahead at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20a15483f7674515e97c84efdca4bf50f1c8baf4 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Navigate to the bridge painting on the wall, then walk to the blue sofa.", + "Type": 3, + "Start_Pose": [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + -229.083, + 1375.802, + 99.275, + 0.0, + 46.12, + -0.0 + ], + [ + -141.844, + 1466.52, + 99.275, + 0.0, + 46.12, + -0.0 + ], + [ + -54.605, + 1557.239, + 99.64, + 0.0, + 46.12, + -0.0 + ], + [ + 32.635, + 1647.957, + 99.64, + 0.0, + 46.12, + -0.0 + ], + [ + 106.228, + 1738.487, + 99.838, + 0.0, + 46.12, + -0.0 + ], + [ + 106.228, + 1738.487, + 99.838, + 0.0, + 46.12, + -0.0 + ], + [ + 42.181, + 1671.886, + 99.894, + 0.0, + 46.12, + -0.0 + ], + [ + 42.181, + 1671.886, + 99.894, + 0.0, + 21.12, + -0.0 + ], + [ + 42.181, + 1671.886, + 99.894, + 0.0, + -3.88, + 0.0 + ], + [ + 42.181, + 1671.886, + 99.894, + 0.0, + -28.88, + 0.0 + ], + [ + 42.181, + 1671.886, + 99.894, + 0.0, + -53.88, + 0.0 + ], + [ + 116.372, + 1570.219, + 99.894, + 0.0, + -53.88, + 0.0 + ], + [ + 190.563, + 1468.552, + 99.33, + 0.0, + -53.88, + 0.0 + ], + [ + 264.755, + 1366.885, + 99.33, + 0.0, + -53.88, + 0.0 + ], + [ + 336.493, + 1297.307, + 99.33, + 0.0, + -53.88, + 0.0 + ], + [ + 336.493, + 1297.307, + 99.33, + 0.0, + -53.88, + 0.0 + ] + ], + "Rationale": [ + "From here the framed bridge picture hangs on the far wall to my right, down the red carpeted corridor, while the blue sofa sits close behind me on the left. I will turn right so that corridor and the picture line up ahead of me before I start walking.", + "The corridor now opens straight ahead with the small framed bridge picture on the wall beyond the fire extinguisher column. The floor between me and it is clear, so I will walk forward to close that distance.", + "The bridge picture has grown noticeably larger on the right-hand wall, so my heading down this corridor is good. Nothing blocks the walkway ahead, and I will keep walking to bring myself alongside it.", + "The framed bridge is now clearly in front of me on the wall past the wooden column, though still a few paces off. I will continue walking to get right up to it.", + "The bridge painting fills much of the wall just ahead and to my left, with only a short stretch of floor left before it. One more step forward should put me directly at it.", + "The gold frame and the blue bridge canvas fill my view from arm's length, so I am standing right at the bridge painting on the wall. I have reached it. I mark reaching it and now set off for the blue sofa back in the open lobby area.", + "Pressed this close to the wall, the frame blocks nearly everything and I have no room to swing around toward the lobby. I will step back to open up space and bring the corridor back into view before changing heading.", + "I now have clearance from the wall, and the painting sits ahead of me while the open lobby with the blue sofa lies back the way I came, off to my left. I will turn left to begin swinging my heading around toward that lounge area.", + "The bridge painting has slipped to the right edge of my view and a wide wooden pillar now fills most of it, with pale open floor and a luggage cart just visible past its left side. That open area is where I expect to find the blue sofa, so I will turn left again to swing my heading toward it.", + "Turning has opened up the tiled lobby with its double doors and the bell cart, and a sliver of pale blue upholstery is just appearing at the far left. I will turn left once more to bring that seating fully into the center of my view.", + "The blue sofa under the 3F sign is now clearly in view but sits well over on my left, with the bell cart and pillar crowding my right. One more left turn should put the sofa near the middle of my path so I can walk straight at it.", + "The blue sofa now sits ahead of me beside the potted plant, with clear tiled floor between us and nothing blocking the way. I will walk forward to close the distance to it.", + "The sofa has grown noticeably larger and its cushions are clearly resolved, but I am still several paces short of it. I will keep walking forward toward it.", + "The blue sofa now fills much of the left and center of my view and the 3F sign above it is sharp and close. A further step forward should bring me right up beside the seat.", + "I am nearly at the sofa, its armrest and cushions taking up the lower half of my view with only a short stretch of tile remaining. I will take one more short step forward to stand directly at it.", + "The blue sofa's cushions are directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e73c7034ccc8ce6ad1a9889c0a65c0427b546039 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t3_e/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Move to the bridge painting on the wall, then approach the double wooden doors.", + "Type": 3, + "Start_Pose": [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -229.083, + 1375.802, + 99.275, + 0.0, + 21.12, + -0.0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 46.12, + -0.0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 71.12, + -0.0 + ], + [ + -70.952, + 1540.239, + 99.841, + 0.0, + 71.12, + -0.0 + ], + [ + -30.225, + 1659.327, + 99.841, + 0.0, + 71.12, + -0.0 + ], + [ + -30.225, + 1659.327, + 99.841, + 0.0, + 46.12, + -0.0 + ], + [ + 57.014, + 1750.045, + 99.838, + 0.0, + 46.12, + -0.0 + ], + [ + 57.014, + 1750.045, + 99.838, + 0.0, + 21.12, + -0.0 + ], + [ + 107.177, + 1791.608, + 99.838, + 0.0, + 21.12, + -0.0 + ], + [ + 107.177, + 1791.608, + 99.838, + 0.0, + 21.12, + -0.0 + ], + [ + 20.983, + 1758.314, + 99.838, + 0.0, + 21.12, + -0.0 + ], + [ + 20.983, + 1758.314, + 99.838, + 0.0, + -3.88, + 0.0 + ], + [ + 20.983, + 1758.314, + 99.838, + 0.0, + -28.88, + 0.0 + ], + [ + 20.983, + 1758.314, + 99.838, + 0.0, + -53.88, + 0.0 + ], + [ + 95.175, + 1656.647, + 99.963, + 0.0, + -53.88, + 0.0 + ], + [ + 169.366, + 1554.98, + 99.346, + 0.0, + -53.88, + 0.0 + ], + [ + 169.366, + 1554.98, + 99.346, + 0.0, + -28.88, + 0.0 + ], + [ + 279.572, + 1494.193, + 99.346, + 0.0, + -28.88, + 0.0 + ], + [ + 279.572, + 1494.193, + 99.346, + 0.0, + -3.88, + 0.0 + ], + [ + 405.143, + 1485.677, + 99.346, + 0.0, + -3.88, + 0.0 + ], + [ + 405.143, + 1485.677, + 99.346, + 0.0, + -3.88, + 0.0 + ] + ], + "Rationale": [ + "From this lobby corner I can see a framed bridge picture on the far wall to my right, and the pair of wooden doors set into the wall ahead on my left. The bridge picture is the destination I want first, so I step forward onto the open floor to gain a clearer line toward that side of the room.", + "The bridge picture sits well off to my right, past the luggage cart and the fire extinguisher column, while my body still faces the doors. Turning right should swing that side of the room into the middle of my view so I can judge the route toward the picture.", + "The turn has brought the framed bridge picture and the carpeted corridor beyond it into view, but they still sit right of centre behind the column. I turn right once more to put that corridor squarely ahead before I start walking.", + "The corridor now runs straight ahead of me with the bridge picture hanging on its left wall, near the extinguisher and the standing ashtray. Nothing blocks the carpet, so I walk forward to close the distance to that picture.", + "The framed bridge is noticeably larger on my left now, though I am still short of standing before it. The corridor stays clear past the bin, so I take another step forward to draw level with the picture.", + "I am now roughly abreast of the bridge painting, which hangs on the wall to my left while I face down the corridor toward the far lounge. Turning left should bring the painting itself in front of me instead of at the edge of my view.", + "The bridge painting is now squarely in view on the wall I am facing, with only a short stretch of tile between me and it. I walk forward to stand close in front of the picture.", + "I am right up against the wall, but the bridge painting has slid to the left edge of my view while the corridor and bin fill the rest. A left turn should place the framed picture directly in front of me to confirm I am standing at it.", + "The framed bridge picture now dominates my view, its gilt frame and painted span filling most of the wall in front of me. Only a short gap of patterned wallpaper separates me from it, so I take one more step ahead to stand directly at the painting.", + "The bridge painting is right against me, its gold frame edge and dark span filling my whole view with nothing but wallpaper below. I have arrived at the bridge painting on the wall. I mark reaching it and turn my attention to the double wooden doors.", + "Standing this close, the picture and its frame block everything, leaving me no sight of the room and no space to swing around. Backing up a step should restore some distance from the wall and give me room to reorient toward the double wooden doors.", + "With a little distance regained, the painting sits ahead on the wall and the corridor lies off to my left beyond it. I turn left to swing my heading off the wall and toward the open floor where I can look for the double wooden doors.", + "The rotation has pushed the painting to my right edge and brought a wooden panelled column and a sliver of brighter open space into the left of my view. I keep turning left to bring that open area fully in front of me.", + "The panelled column still cuts across the middle of my view, with the seating area and floor sign only partly visible past its left side. Another left turn should clear the column and put the open lobby squarely ahead of me.", + "The open lobby now lies ahead of me with a sofa against the far wall and a clear tiled floor between us. Nothing blocks the way, so I walk forward into that space to search its walls for the double wooden doors.", + "Two tall wooden doors are now visible in the wall ahead and slightly to my right, past the sofa and the luggage trolley. The tiled floor between us is clear, so I keep walking forward to close the distance to them.", + "The pair of wooden doors stands on the right side of my view, while the sofa and floor sign fill the center ahead. I will turn right to bring those doors closer to the middle of my heading before walking in.", + "The double wooden doors now sit near the center of my view with clear tile floor in front of them. I will walk forward to close the remaining gap toward the doorway.", + "From this closer position the door frame is slightly left of center and angled, so I am not squarely facing the leaves. A small right turn should square my heading with the doors before the final step in.", + "The two wooden leaves and their handles are now squarely framed straight ahead with only a short stretch of tile between us. I will step forward to stand directly at the doors.", + "The wooden door leaf and its handle fill my view at arm's length. Both named destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t5_a_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d1dabe9de8ff0f0575b3d2721625a566f1db682 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000229_y001376_z000099_t5_a_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Lift the tomato at the gold luggage cart, then place it near the blue sofa.", + "Type": 5, + "Start_Pose": [ + -229.083, + 1375.802, + 99.275, + 0, + 21.12, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 169.45, + 1584.641, + 63.838, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -229.083, + 1375.802, + 99.275, + 0, + 21.12, + 0 + ], + [ + -111.678, + 1421.152, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + 21.12, + -0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + -3.88, + 0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + -28.88, + 0.0 + ], + [ + 5.727, + 1466.502, + 99.841, + 0.0, + -53.88, + 0.0 + ], + [ + 79.918, + 1364.835, + 99.841, + 0.0, + -53.88, + 0.0 + ], + [ + 146.565, + 1312.511, + 98.708, + 0.0, + -53.88, + 0.0 + ], + [ + 104.122, + 1370.671, + 99.835, + 0.0, + -53.88, + 0.0 + ], + [ + 104.122, + 1370.671, + 99.835, + 0.0, + -53.88, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 169.45, + 1584.641, + 63.838, + 0.0, + 0.0, + 0.0 + ], + [ + 169.45, + 1584.641, + 63.838, + 0.0, + 0.0, + 0.0 + ], + [ + 169.45, + 1584.641, + 63.838, + 0.0, + 0.0, + 0.0 + ], + [ + -2.537, + 1486.201, + 69.945, + -28.202, + 71.265, + 1.862 + ], + [ + 6.493, + 1486.898, + 70.217, + -28.189, + 46.277, + 1.872 + ], + [ + 15.607, + 1484.091, + 69.55, + -28.215, + 21.248, + 1.849 + ], + [ + 30.712, + 1478.017, + 69.731, + -14.175, + -11.688, + 6.959 + ], + [ + 96.739, + 1378.012, + 70.171, + -28.198, + -3.735, + 1.865 + ], + [ + 163.626, + 1325.361, + 68.893, + -28.196, + -3.73, + 1.865 + ], + [ + 145.385, + 1314.126, + 114.835, + 0.0, + -53.88, + 0.0 + ], + [ + 145.385, + 1314.126, + 114.835, + 0.0, + -53.88, + 0.0 + ] + ], + "PD_Dist_2D": [ + 449.9, + 325.2, + 201.9, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The gold luggage cart stands ahead against the wooden wall, and the red tomato rests on the floor beside it. It is still far across the tiled area, well out of grasping range. I will walk forward to close that gap.", + "The tomato beside the luggage cart is noticeably larger and lower in my view now, so my previous step brought me closer. It still sits beyond arm's reach ahead of me. Another forward step should place me right next to it for a grasp.", + "The tomato now fills the lower right of my view directly at the foot of the gold luggage cart, close enough that no further stepping is needed. This is the object the task names. I will attempt to pick it up.", + "The grasp worked, since the tomato is now held in my hands rather than resting on the floor. The blue sofa is not in front of me, and it lay off to my left side of this lobby area when I first surveyed it. I will turn left to bring it into view.", + "The blue sofa has come into the left edge of my view against the wall, so turning that way was correct. It is still too far off center for a straight walk toward it. I will turn left again to bring it nearer the middle of my heading.", + "The sofa now sits clearly in view with the tall potted plant crowding its left side. Walking straight from this heading would run me into the plant instead of the open floor beside the seat. One more left turn should line me up with the clear lane leading to the sofa.", + "My heading now runs along the open floor with the sofa on my right and the carpeted corridor on my left, so the plant no longer blocks the path. The tomato is still in my hands and the sofa is several paces away. I will walk forward to reach it.", + "The blue sofa now dominates the right of my view and the plant has slipped past on my left, confirming the step brought me alongside it. I am not yet close enough for the tomato to count as placed near the seat. One more short step forward should put me right beside it.", + "The tomato is still in my hands from the pickup at the luggage cart, and the blue sofa now fills the view directly ahead at arm's length. This is close enough to count as near the sofa, so I will release the tomato here.", + "The tomato now rests on the floor right beside the blue sofa and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aad1b69320a653faed5062f4dfef45f358cfa8a6 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Head toward the teal sofa in the lobby.", + "Type": 0, + "Start_Pose": [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -168.382, + 1453.2, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -48.847, + 1413.807, + 99.787, + 0.0, + -18.24, + 0.0 + ], + [ + 70.688, + 1374.413, + 99.787, + 0.0, + -18.24, + 0.0 + ], + [ + 190.223, + 1335.02, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + 190.223, + 1335.02, + 99.275, + 0.0, + -18.24, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the red carpet I can see the teal sofa set against the far wall to the left of the wooden double doors, small in view and well across the lobby. My heading already points into the open tiled area with nothing blocking the path, so I will move forward to start closing that distance.", + "The teal sofa and its potted plant now appear noticeably larger and slightly left of center, confirming my heading is carrying me toward it. The floor ahead stays clear, so I will keep moving forward to reduce the remaining gap.", + "The sofa now fills much of the left side of my view and the wall signage above it is legible, so I am within a few steps of the lobby seating. There is still open tile between me and the sofa, so another forward step should bring me properly alongside the target.", + "The teal sofa is close on my left with its cushions and armrest clearly detailed, though I am still slightly short of standing right at it. I will take one more forward step to settle at a natural stopping position beside the sofa.", + "The teal lobby sofa is directly beside me, filling the near left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..80031508852db4ed78a1850118f8d98b9934ad2d --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the gold luggage cart near the wall.", + "Type": 0, + "Start_Pose": [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -287.917, + 1492.594, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -287.917, + 1492.594, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + -163.087, + 1500.515, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + -38.103, + 1515.33, + 99.598, + 0.0, + 6.76, + -0.0 + ], + [ + 86.881, + 1530.145, + 99.598, + 0.0, + 6.76, + -0.0 + ], + [ + 86.881, + 1530.145, + 99.598, + 0.0, + 31.76, + -0.0 + ], + [ + 194.256, + 1593.953, + 99.194, + 0.0, + 31.76, + -0.0 + ], + [ + 194.256, + 1593.953, + 99.194, + 0.0, + 31.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the gold luggage cart with its red platform standing against the far wall on the right side of my view, beyond the sofa and the elevator doors. Since it sits off to my right rather than straight ahead, I will turn right to bring it closer to the center of my heading before advancing.", + "The gold cart is now roughly ahead of me, parked beside the wall panel under the fire extinguisher, with open tiled floor between us. I will move forward to start closing the considerable distance to it.", + "The luggage cart has grown noticeably larger and its red platform and wheels are clearly visible ahead beside the wooden wall, so my heading is still good. I will continue forward to keep reducing the gap across the open floor.", + "The cart now fills a good part of the right-center of my view, but there is still several steps of tile between me and it. I will advance again to bring myself within close range of the cart at the wall.", + "At this short range the cart has drifted toward the right half of my view while the elevator doors dominate the left, so my heading points slightly past it. I will turn right to place the cart squarely in front of me for the final step in.", + "The cart's brass frame and red platform are now directly ahead against the wall, only a step or so away. I will move forward once more to settle right beside it.", + "The gold cart's brass frame and red deck fill my view at arm's length beside the wall. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93f33060f45964b7f838d5177ff8c5e20260080a --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000288_y001493_z000099_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Lift the ceramic pot at the gold luggage cart near the wall.", + "Type": 5, + "Start_Pose": [ + -287.917, + 1492.594, + 99.275, + 0, + -18.24, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 267.201, + 1491.467, + 14.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -287.917, + 1492.594, + 99.275, + 0, + -18.24, + 0 + ], + [ + -168.382, + 1453.2, + 99.275, + 0.0, + -18.24, + 0.0 + ], + [ + -168.382, + 1453.2, + 99.275, + 0.0, + 6.76, + -0.0 + ], + [ + -43.398, + 1468.015, + 99.838, + 0.0, + 6.76, + -0.0 + ], + [ + 81.586, + 1482.83, + 99.838, + 0.0, + 6.76, + -0.0 + ], + [ + 81.586, + 1482.83, + 99.838, + 0.0, + 6.76, + -0.0 + ], + [ + 81.586, + 1482.83, + 99.838, + 0.0, + 6.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 267.201, + 1491.467, + 14.275, + 0.0, + 0.0, + 0.0 + ], + [ + 267.201, + 1491.467, + 14.275, + 0.0, + 0.0, + 0.0 + ], + [ + 267.201, + 1491.467, + 14.275, + 0.0, + 0.0, + 0.0 + ], + [ + 267.201, + 1491.467, + 14.275, + 0.0, + 0.0, + 0.0 + ], + [ + 267.201, + 1491.467, + 14.275, + 0.0, + 0.0, + 0.0 + ], + [ + 78.467, + 1503.964, + 69.945, + -28.202, + 56.904, + 1.862 + ], + [ + 78.467, + 1503.964, + 69.945, + -28.202, + 56.904, + 1.862 + ] + ], + "PD_Dist_2D": [ + 555.1, + 437.3, + 437.3, + 311.5, + 185.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From the edge of the patterned carpet I can see the gold luggage cart against the far wall, with the dark ceramic pot sitting on the tile just beside it. Both are far across the lobby, so I will walk straight ahead to close that distance before any grasp is possible.", + "The pot and the gold cart now sit noticeably right of my heading, while the elevator doors and sofa occupy the center of my view. I will turn right so the pot moves toward the middle of my view and a straight walk can carry me to it.", + "After the turn the ceramic pot and the gold cart sit near the center of my view, so my heading is usable. The pot is still several strides away across the tile, so I will walk forward to shorten the gap.", + "The pot is clearly larger and lower in my view now, but it remains beyond arm's reach on the open tile. I will take another step forward to bring it close enough in front of me for a pick attempt.", + "The ceramic pot is directly in front of me at the base of my view, with the gold luggage cart right beside it against the wall. My hands are empty and nothing blocks the pot, so I will attempt to pick it up now.", + "The ceramic pot is now held in my hands, lifted off the floor by the gold cart. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8322b5132d63032afc8d76cfc3e1a3e72d784521 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the wooden desk chair.", + "Type": 0, + "Start_Pose": [ + -383.753, + -476.434, + 100.275, + 0.0, + -175.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -383.753, + -476.434, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -509.254, + -485.915, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -634.756, + -495.395, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -760.257, + -504.876, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -885.759, + -514.356, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -960.461, + -513.962, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -960.461, + -513.962, + 100.275, + 0.0, + -175.68, + 0.0 + ] + ], + "Rationale": [ + "From the doorway area of this hotel room I can already spot the wooden desk chair straight ahead, tucked against the curtained window beside the writing desk. It sits close to the center of my view, so my current heading is roughly aligned with it and no turn is needed. I will move forward to begin closing the sizeable gap across the carpet.", + "The chair now appears slightly larger and still sits near the middle of my view, confirming the previous step brought me closer without drifting off heading. The bed edge stays to my left and the media console to my right, leaving an open lane straight ahead. I will keep moving forward along the same heading.", + "The wooden chair and the desk beside it now fill much more of my view, so distance is dropping steadily as I advance. The path in front of me is still clear carpet, with the bed corner passing on my left. Another forward step should bring me appreciably nearer the chair.", + "I am now close enough to see the chair's slats, seat, and legs clearly against the window curtains, with the desk and tea set just to its right. The chair remains near the center of my heading, so I still do not need to reorient. I will advance again to reach a position right beside it.", + "The chair now dominates the lower center of my view and the curtain behind it is only a short step away, so I am nearly at the target. One more short forward movement should place me directly at the chair rather than a stride short of it. I will step forward carefully since the wall of curtain limits any further travel.", + "The wooden desk chair is directly in front of me, filling my view at arm's reach. The task is complete, so I stop here rather than pressing further into it." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5f527ea2dc57e772e28114aef261d4d14a491f --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the lit bedside lamp.", + "Type": 0, + "Start_Pose": [ + -383.753, + -476.434, + 100.275, + 0.0, + -175.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -383.753, + -476.434, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -509.254, + -485.915, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -634.756, + -495.395, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -760.257, + -504.876, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -760.257, + -504.876, + 100.275, + 0.0, + 159.32, + -0.0 + ], + [ + -875.51, + -497.06, + 100.275, + 0.0, + 159.32, + -0.0 + ], + [ + -990.232, + -481.537, + 100.275, + 0.0, + 159.32, + -0.0 + ], + [ + -990.232, + -481.537, + 100.275, + 0.0, + 134.32, + -0.0 + ], + [ + -990.232, + -481.537, + 100.275, + 0.0, + 109.32, + -0.0 + ], + [ + -1031.872, + -362.766, + 100.275, + 0.0, + 109.32, + -0.0 + ], + [ + -1052.138, + -283.395, + 100.275, + 0.0, + 109.32, + -0.0 + ], + [ + -1052.138, + -283.395, + 100.275, + 0.0, + 109.32, + -0.0 + ] + ], + "Rationale": [ + "From just inside the room I can see the bed on my left and a warm glow from a small lit lamp on the far bedside table near the window. The wardrobe on my right narrows the space here, so I will step forward along the open carpet to close distance with that lamp.", + "The bed, desk and window wall are noticeably larger now, confirming my forward heading is taking me deeper into the room. The lit lamp still sits ahead on the left near the curtains, so another step forward should keep shrinking that gap.", + "The curtained window and the chair in front of it are close now, and the lit lamp is at the left edge of my view past the bed's head. I will advance once more to reach the far end of the room where the bedside table stands.", + "My heading now points at the window curtains, the desk and the framed picture on the right, while the lamp has slipped out of view past my left side. Turning left should swing my heading back toward the bedside table so the lit lamp is in front of me again.", + "The turn brought the glowing lamp and its nightstand back into the left part of my view, with clear carpet between me and the window wall. I will walk forward along this heading to close the remaining distance to that lamp.", + "The lamp is now clearly resolved on the low chest just to my left, and the curtains ahead show I am nearly at the window wall. Another step forward should bring me alongside the bedside table rather than leaving me a stride short.", + "I am right up against the window curtains and they now fill almost all of my view, with only the chair edge showing at the right. Turning left should point me back at the bedside table and its lit lamp along the adjacent wall.", + "The lit lamp and its nightstand are back in view but sitting off to my left, with curtain still covering the right of my view. One more left turn should center the lamp so I can step straight up to it.", + "The lit bedside lamp on its nightstand now sits near the center of my view, with the bed headboard to its left and the curtain to its right, so my heading is aligned with the target. I will step forward to close the remaining gap across the carpet toward the nightstand.", + "The glowing lamp and its shade now dominate the middle of my view and the nightstand top is clearly resolved, so I am close but still a short step away. I will advance once more to bring myself right up beside the lit lamp.", + "The lit bedside lamp is directly in front of me at arm's length, its glowing shade filling most of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f2e46a9bf495f0bcb92e8fa1351259db90a31de --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000384_y-000476_z000100_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the green bell pepper near the wooden desk chair.", + "Type": 5, + "Start_Pose": [ + -383.753, + -476.434, + 100.275, + 0, + -175.68, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -965.804, + -519.855, + 45.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -383.753, + -476.434, + 100.275, + 0, + -175.68, + 0 + ], + [ + -509.254, + -485.915, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -634.756, + -495.395, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -760.257, + -504.876, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -885.759, + -514.356, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -885.759, + -514.356, + 100.275, + 0.0, + -175.68, + 0.0 + ], + [ + -885.759, + -514.356, + 100.275, + 0.0, + -175.68, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -965.804, + -519.855, + 45.275, + 0.0, + 0.0, + 0.0 + ], + [ + -965.804, + -519.855, + 45.275, + 0.0, + 0.0, + 0.0 + ], + [ + -965.804, + -519.855, + 45.275, + 0.0, + 0.0, + 0.0 + ], + [ + -965.804, + -519.855, + 45.275, + 0.0, + 0.0, + 0.0 + ], + [ + -965.804, + -519.855, + 45.275, + 0.0, + 0.0, + 0.0 + ], + [ + -883.542, + -535.604, + 70.381, + -28.202, + -125.536, + 1.862 + ], + [ + -883.542, + -535.604, + 70.381, + -28.202, + -125.536, + 1.862 + ] + ], + "PD_Dist_2D": [ + 583.7, + 457.8, + 332.0, + 206.1, + 80.2, + 21.4, + 21.4 + ], + "Rationale": [ + "From the doorway I can see the green bell pepper sitting on the carpet beside the wooden desk chair, far across the room near the window. It is roughly straight ahead along my current heading, so no turn is needed yet. I will walk forward to close that distance.", + "The pepper and the wooden chair are now larger and still centered near my heading, so my path is good. I am still several strides away, too far to reach the pepper. I will keep walking forward.", + "The green pepper now sits clearly in front of me beside the chair legs, with open carpet between us and nothing blocking the way. My heading needs no correction since the target stays near the middle of my view. I will step forward again to get within reach.", + "The pepper is close now, filling much of the lower view right in front of the chair. I am still a step short of a comfortable grasping distance. One more forward step should bring me right over it.", + "I am standing right at the wooden chair with the desk beside me, and the green bell pepper is directly at my feet within arm's reach. Nothing separates my hands from it. I will attempt the pick now.", + "The green bell pepper is now held in my hands rather than resting on the carpet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..289d41adcc29b3dfe6f00b56e9fd9856c38d8d5c --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search for the wall-mounted flat-screen television above the wooden media cabinet; after locating it, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -676.137, + -390.392, + 100.275, + 0.0, + 125.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -676.137, + -390.392, + 100.275, + 0.0, + 125.12, + -0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + 150.12, + -0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + 175.12, + -0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + -159.88, + 0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + -134.88, + 0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + -109.88, + 0.0 + ], + [ + -691.346, + -498.082, + 100.275, + 0.0, + -109.88, + 0.0 + ], + [ + -730.141, + -560.787, + 100.275, + 0.0, + -109.88, + 0.0 + ], + [ + -730.141, + -560.787, + 100.275, + 0.0, + -109.88, + 0.0 + ] + ], + "Rationale": [ + "I am facing the bed and its illuminated headboard wall, and no television or media cabinet is anywhere in this view. The room clearly continues to my right past the nightstand and window, so I will turn right to begin a consistent scan of the unseen side of the room.", + "The view now shows the curtained window wall and the nightstand lamp, but still no flat-screen or media cabinet. I will keep turning right in the same direction to bring more of the unscanned room wall into sight.", + "I can now see the desk, chair and a framed picture, and the edge of what looks like a dark panel appearing at the far right of my view. That is a promising cue for the television wall, so I will continue turning right to bring it fully into view.", + "The wall-mounted flat-screen television and the long wooden media cabinet beneath it are now visible on the right side of my view. I will turn right again to place the television nearer the center of my heading before approaching.", + "The television and the wooden cabinet under it are clearly in view, but they still sit left of my forward direction while the open floor lies slightly right. One more small right turn should line my heading up with the cabinet wall so I can walk straight toward the screen.", + "The flat-screen television is centered ahead of me above the wooden media cabinet, with clear floor between us. Having located the target, I will walk forward to close the distance toward it.", + "The television now fills much of the upper view and the cabinet below is close, so I am nearly at the wall. I will step forward once more to finish closing in on the screen.", + "The wall-mounted television fills my view at arm's length against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c497719e4016b215c58ae3f94a111d35eb08489 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000676_y-000390_z000100_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Identify the wooden chair with a light cushion seated near the desk by the curtained window, then head over to it.", + "Type": 1, + "Start_Pose": [ + -676.137, + -390.392, + 100.275, + 0.0, + 125.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -676.137, + -390.392, + 100.275, + 0.0, + 125.12, + -0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + 150.12, + -0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + 175.12, + -0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + -159.88, + 0.0 + ], + [ + -676.137, + -390.392, + 100.275, + 0.0, + -134.88, + 0.0 + ], + [ + -676.163, + -452.003, + 100.275, + 0.0, + -134.88, + 0.0 + ], + [ + -757.554, + -545.353, + 100.275, + 0.0, + -134.88, + 0.0 + ], + [ + -757.554, + -545.353, + 100.275, + 0.0, + -159.88, + 0.0 + ], + [ + -874.545, + -560.858, + 100.275, + 0.0, + -159.88, + 0.0 + ], + [ + -874.545, + -560.858, + 100.275, + 0.0, + 175.12, + -0.0 + ], + [ + -959.61, + -542.499, + 100.275, + 0.0, + 175.12, + -0.0 + ], + [ + -959.61, + -542.499, + 100.275, + 0.0, + 175.12, + -0.0 + ] + ], + "Rationale": [ + "From here I only see the bed, its lit headboard, and a sliver of heavy curtain at the far right, so the wooden chair and desk are not yet in view. The curtain edge suggests the window wall lies to my right, so I will turn right to scan that side of the room.", + "The turn brought the curtained window and the nightstand lamp into view, but the desk and its wooden chair are still outside my field of view. I will keep rotating in the same direction to sweep further along the window wall where such a desk is likely to stand.", + "I can now see a wooden chair with a pale cushion tucked beside a small desk against the curtained window, to the right of my heading. I will continue turning right to bring that chair and desk area closer to the center of my view before moving.", + "The chair and desk are confirmed ahead by the curtains, but the bed corner still juts into my path on the left of this heading. I will turn right once more to face the open carpet lane beside the television cabinet, which should give me a clear walking line toward that corner of the room.", + "I am now facing down the clear carpet strip between the bed and the wall-mounted television, with the wooden chair and desk standing by the curtain on my left. I will step forward along this open lane to close distance with that corner of the room.", + "The desk with its teapot and the cushioned wooden chair have grown noticeably larger on my left, so my advance is closing the gap. I will walk forward again to reach the far end of the cabinet, level with the desk area.", + "I have come close enough that the cabinet and television now fill most of my view, and the desk with its teapot sits at the very left edge with the chair beyond it. I will turn left to bring the wooden chair back into the center of my view before continuing.", + "The wooden chair with the pale cushion is now clearly in front of me against the curtained window, next to the small desk. I will step forward to close the remaining distance toward it.", + "The wooden chair with the light cushion is now only partly in view at the far left edge, while the desk with the teapot and cups fills the center of my view. Turning left should swing the chair into the middle of my view so I can walk straight at it instead of into the desk.", + "The wooden chair with the pale cushion now sits squarely ahead of me against the curtained window, with the desk clear to my right. With the path over the open carpet unobstructed, I will step forward to close the remaining distance to it.", + "The wooden chair with the light cushion by the curtained window desk now fills my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a229dafeef6e336eca5f6328c0814c30820a135 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search the hallway outside the room for the door labeled 303, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -930.947, + -560.815, + 100.275, + 0.0, + 45.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -930.947, + -560.815, + 100.275, + 0.0, + 45.12, + -0.0 + ], + [ + -930.947, + -560.815, + 100.275, + 0.0, + 20.12, + -0.0 + ], + [ + -812.769, + -517.521, + 100.275, + 0.0, + 20.12, + -0.0 + ], + [ + -695.775, + -487.45, + 100.275, + 0.0, + 20.12, + -0.0 + ], + [ + -695.775, + -487.45, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -570.372, + -498.157, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -444.969, + -508.863, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -319.566, + -519.57, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -194.194, + -529.689, + 99.275, + 0.0, + -4.88, + 0.0 + ], + [ + -194.194, + -529.689, + 99.275, + 0.0, + -29.88, + 0.0 + ], + [ + -84.353, + -582.355, + 99.786, + 0.0, + -29.88, + 0.0 + ], + [ + 24.776, + -645.056, + 99.786, + 0.0, + -29.88, + 0.0 + ], + [ + 133.905, + -707.757, + 99.385, + 0.0, + -29.88, + 0.0 + ], + [ + 207.652, + -764.721, + 99.275, + 0.0, + -29.88, + 0.0 + ], + [ + 207.652, + -764.721, + 99.275, + 0.0, + -29.88, + 0.0 + ] + ], + "Rationale": [ + "I am standing inside the guest room facing the bed, and the task requires me to reach the hallway outside where door 303 should be. The room's exit corridor with the open doorway sits toward my left, so I will turn left to bring that way out into view. This should line me up with the passage leading out of the room.", + "The turn has opened up the room's entry corridor ahead, with the wardrobe on my left and the luggage against the wall on my right. Straight ahead I can see the lit vestibule and what looks like the room's exit door beyond it. I will walk forward along this corridor to get closer to that way out.", + "The corridor has widened in front of me and the doorway to the entry vestibule is noticeably nearer, with the bathroom opening on my right. Nothing blocks the carpet between me and that opening. I will keep walking forward to close the remaining distance to the room's exit.", + "I am close to the entry vestibule, but the opening with the paneled exit door sits slightly off to my left while my heading points more toward the wall and the bathroom door on the right. A small left turn should center that passage in front of me. This should let me walk straight through instead of clipping the door frame.", + "The passage is now centered ahead of me, with the wardrobe on my left and the bathroom opening on my right forming a straight aisle. Through the opening I can see the lit entry area and the paneled exit door. I will walk forward to enter that vestibule.", + "I am at the threshold of the entry vestibule, with the open door leaf and a suitcase to my left and the bathroom counter to my right, leaving enough clearance to pass. Ahead the tiled entry and a red runner lead to the corridor door. I will step forward to move through this threshold toward the hallway.", + "I am now in the doorway itself, with the swung door panel filling my left side and the frame on my right, and the tiled hallway floor with the runner opening out ahead. The paneled door and shoes beyond confirm this leads into the shared corridor where the numbered rooms should be. I will step forward to move out of the room and into that hallway.", + "I have stepped out into the hallway and can see two paneled doors side by side ahead with small plaques beside them, but the numbers are too small to read from here. Advancing along the red runner should bring those plaques close enough to identify whether one of them is 303. I will walk forward to close that distance.", + "I am now standing in the corridor and I can see a plaque reading 303 at the far left edge of my view, just beside one of the wooden doors. Since that label sits off to my left rather than ahead of me, I will turn left to bring the numbered door into the center of my heading before advancing.", + "The turn brought the left portion of the corridor into view, with the door and its wall plaque now within my forward field rather than at the edge. The target door is still several paces away across the tiled strip, so I will walk forward to close that distance.", + "The plaque reading 303 is clearly legible now, mounted on the panel immediately left of the nearer wooden door. I am still out on the carpet at a distance, so I will keep walking forward to reach that labeled door.", + "The 303 plaque and the door beneath it now fill much of my view, and I am standing on the tiled area directly in front of them. I will step forward again to close the remaining gap and stand right at the door.", + "The door labeled 303 is now an arm's reach ahead, with its handle and hanging tag plainly visible at my left. One short step forward should place me squarely at the doorway, close enough to count as arriving.", + "I am standing directly at the wooden door marked 303, its panel filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3329b94b7ffec3117e361837832f1bc4984ed0a --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-000931_y-000561_z000100_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the overturned service cart lying on the corridor floor; once you spot it, go toward it.", + "Type": 1, + "Start_Pose": [ + -930.947, + -560.815, + 100.275, + 0.0, + 45.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -930.947, + -560.815, + 100.275, + 0.0, + 45.12, + -0.0 + ], + [ + -930.947, + -560.815, + 100.275, + 0.0, + 20.12, + -0.0 + ], + [ + -812.769, + -517.521, + 100.275, + 0.0, + 20.12, + -0.0 + ], + [ + -695.775, + -487.45, + 100.275, + 0.0, + 20.12, + -0.0 + ], + [ + -695.775, + -487.45, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -570.372, + -498.157, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -444.969, + -508.863, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -319.566, + -519.57, + 100.275, + 0.0, + -4.88, + 0.0 + ], + [ + -319.566, + -519.57, + 100.275, + 0.0, + -29.88, + 0.0 + ], + [ + -226.932, + -532.339, + 99.275, + 0.0, + -29.88, + 0.0 + ], + [ + -226.932, + -532.339, + 99.275, + 0.0, + -54.88, + 0.0 + ], + [ + -184.082, + -579.808, + 99.258, + 0.0, + -54.88, + 0.0 + ], + [ + -184.082, + -579.808, + 99.258, + 0.0, + -54.88, + 0.0 + ] + ], + "Rationale": [ + "I am standing inside a guest room with the bed filling most of my view, and no service cart is anywhere in here. The open doorway and entry passage on my left side lead out of the room toward the corridor, which is where a cart would plausibly be. I will turn left to bring that exit route into the center of my view.", + "The entry passage is now centered ahead, with the wardrobe on my left and the luggage lined up along the right wall. The lit doorway at the end of that passage opens onto space beyond the room, so advancing along it should carry me toward the corridor where the overturned cart may lie. I will step forward down this passage.", + "I have closed some distance and the far doorway with its patterned wooden panel is clearly larger ahead of me. The floor between the wardrobe and the bathroom opening is clear, so continuing straight should bring me nearer to that exit. I will keep walking forward.", + "From here the exit doorway sits off to my left while my heading points more toward the bathroom opening and the picture on the right wall. Turning left should square my body with the exit passage so I can walk straight through it. I will turn left to line up with that opening.", + "The exit passage is now straight ahead, with the wardrobe wall on my left and the bathroom opening on my right, and the outer door stands open onto a lit area beyond. Nothing blocks the carpet between me and that opening, so stepping forward should take me closer to the space outside the room. I will walk forward along the passage.", + "I am close to the threshold now, with the green suitcase to my left and the open door leaf just ahead, and I can see tiled floor and a red rug in the lit area beyond. That outer space is the most likely place for a service cart, and the doorway is wide enough to pass. I will continue forward through the opening.", + "I am right at the doorway with the door leaf beside me, and through the gap I can see a lift lobby with a red patterned rug and a pair of shoes on the floor. Stepping through should put me fully into that open area where I can scan for the overturned cart. I will move forward across the threshold.", + "I am now out in the lift lobby, and at the lower left edge of my view I can make out the metal frame and castor wheels of a toppled service cart resting on the floor. That is the target, and it sits to my left rather than in front of me. I will turn left to face it directly before closing in.", + "From the doorway I can now see the elevator lobby opening to my left, and a metal cart frame with exposed casters is lying tipped over on the red carpet at the lower left of my view. That overturned cart matches the service cart I am looking for, so I will step forward out of the doorframe to clear the wall edge and close distance on it.", + "The overturned cart is now clearly in the lower left of my view, lying on its side with its wheels off the ground, but it sits well off my current heading toward the elevator doors. I will turn left to bring the fallen cart into the center of my view before continuing toward it.", + "The turn has brought the toppled service cart squarely into the center foreground, its shelves and casters resting on the carpet with scattered cups beside it. I am nearly on top of it, so a short step forward should place me directly at the cart.", + "The overturned service cart lies directly in front of me, filling the near foreground with its tipped shelves and casters. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..82fa6084fabf70371113aa11c66b94adfc2a2fd0 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for a green suitcase somewhere inside the room; once you find it, head over to it.", + "Type": 1, + "Start_Pose": [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -69.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -979.837, + -376.075, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -978.126, + -411.24, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -977.776, + -410.698, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -977.776, + -410.698, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -978.482, + -471.092, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -978.482, + -471.092, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -880.909, + -523.976, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -880.909, + -523.976, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -755.552, + -512.744, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -630.195, + -501.512, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -504.838, + -490.281, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -504.838, + -490.281, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -504.838, + -490.281, + 100.275, + 0.0, + -19.88, + 0.0 + ] + ], + "Rationale": [ + "From here I only see the desk, chair, wall picture and the mounted television, with no suitcase of any color in view. I will turn right to begin a consistent scan of the room and reveal the space beyond the media wall.", + "The new heading shows the wardrobe and the edge of a bed, but still no green suitcase anywhere on the floor. I will keep turning right in the same direction to extend the sweep toward the unseen part of the room.", + "Past the wardrobe I can now make out an open doorway area with what looks like a green case standing beside it, along with a red one further right. I will continue turning right to bring that luggage corner nearer the center of my view before committing to it.", + "The green suitcase is clearly standing by the far doorway, with the red and blue cases along the wall to its right, so the target is confirmed. I will walk forward along the open carpet beside the bed to close the distance toward it.", + "The green suitcase by the doorway is a little larger in view, so my heading down this side of the room is taking me toward it. I will step forward again to keep closing the remaining distance.", + "The green suitcase is still visible far ahead in the entry alcove beside the wardrobe, so I keep closing the distance along this heading. The bed edge crowds the right side of my path, but the carpet between the wardrobe and the bed still looks open, so I will step forward again toward the target.", + "My last step forward barely changed the scene, so something along the bed corner is blocking this heading. Turning left should swing me away from that obstruction and toward the open floor beside the media cabinet, which may give me a passable line toward the green suitcase in the alcove.", + "With the bed corner no longer directly in front of me, the strip of carpet along the media cabinet and wardrobe is clear. The green suitcase remains visible ahead to the right near the alcove, so I will walk forward on this freed heading to make progress toward it.", + "After advancing along the cabinet wall, my heading now points mostly at the blank TV wall while the green suitcase sits off to the right beside the wardrobe. I will turn right to bring the suitcase and the alcove opening back toward the center of my view before continuing.", + "The turn has lined my view up with the corridor past the wardrobe, and the green suitcase is clearly visible ahead near the alcove floor. The carpet between me and it looks unobstructed, so I will walk forward to close the remaining distance.", + "The green suitcase is visible far ahead beside the entry alcove, but the tall wardrobe runs directly along my current heading and would block a straight walk toward it. I will turn right to swing my heading off the wardrobe face and onto the open carpet lane that leads down the entry passage. That should give me a clear line to continue closing on the suitcase.", + "From this heading the passage past the wardrobe is clear, with the green suitcase still ahead on the left near the entry alcove. I will walk forward along this open lane to cut down the remaining distance to it.", + "The last step brought me noticeably closer, and the green suitcase now sits clearly ahead on the left against the wardrobe end. The floor between us is still open, so I will keep walking forward toward it.", + "The green suitcase is now close on my left, just short of the open entry door, and nothing blocks the last stretch of carpet. I will step forward once more to draw level with it rather than stopping short.", + "Advancing has carried the green suitcase out of my forward view, leaving only the entry door and wall in front of me, which means it now lies just off my left side. I will turn left to bring it back into view and face it directly.", + "The green suitcase stands directly at my feet on the left, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd89ccebe25f8dbc03bf8d3207f3e4b5c861e81 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001008_y-000335_z000100_t1_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Locate the toilet inside the bathroom of this room; after locating it, navigate to that spot.", + "Type": 1, + "Start_Pose": [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -94.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -69.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -1007.583, + -334.958, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -979.837, + -376.075, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -978.126, + -411.24, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -977.776, + -410.698, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -977.776, + -410.698, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -978.482, + -471.092, + 100.275, + 0.0, + -44.88, + 0.0 + ], + [ + -978.482, + -471.092, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -880.909, + -523.976, + 100.275, + 0.0, + -19.88, + 0.0 + ], + [ + -880.909, + -523.976, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -755.552, + -512.744, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -630.195, + -501.512, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -504.838, + -490.281, + 100.275, + 0.0, + 5.12, + -0.0 + ], + [ + -504.838, + -490.281, + 100.275, + 0.0, + 30.12, + -0.0 + ], + [ + -504.838, + -490.281, + 100.275, + 0.0, + 55.12, + -0.0 + ], + [ + -436.966, + -387.299, + 101.375, + 0.0, + 55.12, + -0.0 + ], + [ + -436.966, + -387.299, + 101.375, + 0.0, + 80.12, + -0.0 + ], + [ + -436.966, + -387.299, + 101.375, + 0.0, + 105.12, + -0.0 + ], + [ + -447.865, + -311.03, + 100.441, + 0.0, + 105.12, + -0.0 + ], + [ + -447.865, + -311.03, + 100.441, + 0.0, + 105.12, + -0.0 + ], + [ + -447.865, + -311.03, + 100.441, + 0.0, + 105.12, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see the desk, the curtained window and the wall-mounted television, with no bathroom entrance anywhere in this arc. I need to sweep the room for a doorway that could lead to the toilet, so I will turn to my right to open up the unseen side of the room.", + "The turn brought a wardrobe and the edge of a bed into view, but still no bathroom entrance. Continuing the sweep to the right should carry my gaze past the wardrobe toward whatever lies along that far wall.", + "Beyond the wardrobe an open doorway shows a lit space and a closed panel door at the far right edge of my view, which is the most promising lead toward a bathroom. Another step of rotation to the right should bring that opening nearer the centre of my view and reveal what surrounds it.", + "The doorway and the luggage beside it are now clear, and I want to check the remaining right-hand portion of the room before committing to it. Turning right once more should show me the bed side and confirm there is no second opening there.", + "This heading shows only the bed, headboard and lamp, so nothing on this side leads to a bathroom. The open doorway I found sits back to my left, and turning left should put it back in front of me so I can head for it.", + "The open doorway with the lit space beyond now sits ahead of me, past the wardrobe, and it is the only route out of this bedroom. I will walk forward along the free carpet between the wardrobe and the bed to close the distance to it.", + "The doorway has grown larger and the lit space behind it is clearer, so my heading is still good. Another step forward should bring me closer to that opening where a bathroom is most likely to be found.", + "The doorway is still ahead of me, but the corner of the bed now crowds in from my right and the wardrobe hems the left, leaving a narrow gap on this heading. I will try another step forward to keep closing on the opening.", + "That last stride gained me almost nothing, since the scene in front of me is unchanged, so the bed corner and the wardrobe have pinched my line too tightly to pass. Turning left should point me down the open carpet beside the wardrobe, where there is room to keep walking toward the lit opening.", + "With the media wall and wardrobe squared ahead, the carpet lane in front of me is clear of the bed. Walking forward should carry me along that free strip and closer to the lit opening standing at the far end on my right.", + "Moving up this lane has pushed the lit opening out toward my right edge, leaving me facing mostly blank wall and the media unit. A turn to the right should set that doorway back in front of me before I commit further.", + "The opening with the panelled door behind it is centred again and the carpet between me and the wardrobe corner is unobstructed. I will walk forward to close most of the remaining distance to that threshold.", + "From this close position a second opening shows at my right, with pale tile and the edge of a vanity counter behind it, which reads as a bathroom rather than the entry space straight ahead. Turning right should bring that tiled opening properly into my view.", + "The tiled opening now sits ahead on the right side of this short passage, with the wardrobe run flanking me on the left and suitcases against the far wall. Walking forward should carry me down the passage toward that entrance.", + "The right-hand opening now clearly shows a sink and vanity, confirming the bathroom lies just off this passage. Another stride forward should bring me nearer to being level with its threshold.", + "The tiled floor and vanity are close on my right, but I am still short of being square with that threshold. One more step forward should place me beside the opening so I can face into the bathroom.", + "I am now level with the tiled entrance, but my heading still points down the passage at the far door and the entry rug. Turning right should swing my view into the tiled room where the vanity and shower sit.", + "Part of the tiled room has opened up on my right, showing the shower rail and the counter with a bin below it, yet the doorframe still blocks half of it. Another turn to the right should square me with the opening and reveal the rest of the fittings.", + "The toilet is now in plain sight against the right wall of the tiled room, beyond the shower and the bin. With the entrance squarely ahead I will walk in, committing to that fixture rather than searching further.", + "Stepping inside has carried the toilet out of my view, leaving the mirror, sink counter and shower fitting filling my heading. A turn to the right should bring the bowl back in front of me.", + "The bowl has reappeared, but only its near rim intrudes at my right edge while the tiled shower wall dominates the middle. One more turn to the right should place it centrally so I can walk straight up to it.", + "The toilet with its raised lid and cistern now sits centred ahead of me with clear tile in between. I will step forward to stand right at it.", + "I am close enough that only the upper rim and lid edge remain in my field, with the wall above filling most of it. Looking down should bring the bowl and the floor at its base into view so I can confirm I am standing at it.", + "The toilet bowl fills my view directly below me, within arm's reach. I have reached it, so the task is done and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1488c8392e8181d9dd0fac03b08b465daf5fcc0 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the wooden wardrobe with double doors.", + "Type": 0, + "Start_Pose": [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -979.564, + -380.651, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -785.976, + -560.781, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -673.915, + -565.392, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -673.915, + -565.392, + 100.275, + 0.0, + -24.0, + 0.0 + ] + ], + "Rationale": [ + "From the doorway side of the room I can see the tall wooden wardrobe with its double doors standing against the far wall, but the wide bed lies directly across my straight line to it. I will turn left to face the open carpet lane running along the television wall, which should give me a clear walking route toward the wardrobe.", + "Now the floor ahead of me is clear along the media console and the wardrobe stands further down on the right side of my view. I will move forward down this open lane to begin closing the distance to it.", + "The wardrobe has grown noticeably larger and its vertical door seam and handle are now clearer ahead on my right. The path along the console is still unobstructed, so I will keep moving forward to shorten the remaining gap.", + "Walking along the console wall has pushed the wardrobe toward the right edge of my view, so my heading is now drifting past it. I will turn right to bring the double doors back near the center of my view before continuing.", + "The turn has placed the wardrobe front squarely ahead of me with clear carpet leading up to it. I will move forward along this line to continue closing the distance.", + "The wardrobe now fills a large part of the left half of my view and its handle is clearly visible, so I am getting close. I will step forward again to bring myself right up beside the double doors.", + "The wooden panel and handle are close on my left, but I am still a short step short of standing directly at the wardrobe front. One more forward step should place me right at the double doors within reach.", + "The wooden wardrobe's double doors and handle now fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aaeaa38e9cad2b185632673812c02871c0f56989 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the red suitcase on the floor.", + "Type": 0, + "Start_Pose": [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -979.564, + -380.651, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -774.98, + -517.489, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -774.98, + -517.489, + 100.275, + 0.0, + 26.0, + -0.0 + ], + [ + -661.197, + -467.586, + 100.275, + 0.0, + 26.0, + -0.0 + ], + [ + -661.197, + -467.586, + 100.275, + 0.0, + 51.0, + -0.0 + ], + [ + -623.508, + -419.363, + 100.275, + 0.0, + 51.0, + -0.0 + ], + [ + -623.508, + -419.363, + 100.275, + 0.0, + 51.0, + -0.0 + ], + [ + -623.508, + -419.363, + 100.275, + 0.0, + 51.0, + -0.0 + ] + ], + "Rationale": [ + "I can see the red suitcase standing on the carpet ahead near the far wall, next to a blue one, but the wide bed directly in front of me blocks any straight line to it. Turning left should swing my heading onto the open aisle of blue carpet running along the media cabinet, which is the walkable route past the bed.", + "My heading now runs down the clear carpet lane between the bed on my right and the wall-mounted screen and cabinet on my left. I will step forward along this open lane to close distance toward the wardrobe and doorway area where the red suitcase sits.", + "The lane ahead is still unobstructed, with the cabinet on my left and the wardrobe further along on my right side of the passage. Another step forward should bring me nearer the end of the room where the suitcases were standing on the floor.", + "I have advanced far enough that the blank wall and cabinet now dominate my view while the passage toward the wardrobe and doorway opens to my right. Turning right should bring that passage, and the suitcase corner beyond it, back in front of me.", + "Ahead I now see the corridor between the wardrobe and the bed, with the red suitcase showing at the right edge of my view near the wall. I will step forward along this open carpet to keep closing on it.", + "From this position the wardrobe fills the left of my view and the entry area lies ahead, while the suitcase corner sits off to my right. A right turn should place the red suitcase's alcove more centrally in front of me before I advance again.", + "The red suitcase and the blue one beside it are clearly visible on the carpet to my right front, against the wall below the framed landscape picture. The floor between us is clear, so I will step forward to close the remaining distance.", + "I am now level with the alcove, and the red suitcase has shifted to the right edge of my view while the bathroom doorway and corridor sit ahead. Turning right should square me up on the suitcase so my next step goes straight to it.", + "The red suitcase is standing on the carpet ahead and slightly right of me, beside the blue one near the chest of drawers, with clear floor between us. I will step forward along this open stretch of carpet to close the remaining distance toward it.", + "I am now close to the luggage, but the red suitcase has slipped to the lower right edge of my view while the bathroom doorway and hallway dominate the center. Turning right should swing my heading onto the suitcase so my remaining steps carry me straight to it.", + "The red suitcase now sits low and near the middle of my view against the wall beside the blue case and the lamp table, so my heading is on it. A short step forward should bring me right up to it on the floor.", + "I am standing right beside the luggage now, so close that the wall and light switches fill most of my view and the red case is cut off at the bottom. Looking down should tilt my gaze to the floor and show the red suitcase fully at my feet for confirmation.", + "The red suitcase rests on the carpet directly at my feet, filling the lower part of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..005ec0a80fdc6f62e2d75e9c2cecffe676017af8 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Approach the nightstand holding the gold lamp.", + "Type": 0, + "Start_Pose": [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -979.564, + -380.651, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -774.98, + -517.489, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -774.98, + -517.489, + 100.275, + 0.0, + 26.0, + -0.0 + ], + [ + -774.98, + -517.489, + 100.275, + 0.0, + 51.0, + -0.0 + ], + [ + -698.928, + -484.054, + 100.275, + 0.0, + 51.0, + -0.0 + ], + [ + -638.229, + -395.478, + 100.275, + 0.0, + 51.0, + -0.0 + ], + [ + -638.229, + -395.478, + 100.275, + 0.0, + 76.0, + -0.0 + ], + [ + -646.662, + -286.645, + 100.275, + 0.0, + 76.0, + -0.0 + ], + [ + -646.662, + -286.645, + 100.275, + 0.0, + 76.0, + -0.0 + ] + ], + "Rationale": [ + "I can see the gold lamp glowing on a nightstand against the far right wall, but the wide bed lies directly between me and it. Turning left should point me down the open carpet lane beside the media console, which is the passable route around the bed rather than over it.", + "The open carpet lane now runs straight ahead past the wall screen and console toward the wardrobe and the room entry. Stepping forward should carry me along the side of the bed and closer to the far end of the room where the lamp corner is.", + "The lane ahead is still clear, with the console on my left and the wardrobe standing further along on my right. I will advance again to keep closing the distance toward the far side of the room.", + "I have come level with the wardrobe, and the lamp corner lies off to my right rather than straight ahead along this wall. Turning right should swing my heading back toward the right side of the room and open the passage beside the wardrobe.", + "The passage beside the wardrobe is now open ahead, with the red suitcase and the framed landscape picture on the right where the nightstand side of the room lies. Moving forward should bring me deeper into that passage and nearer the lamp corner.", + "Straight ahead the passage only continues toward the entry doors, while the alcove on my right holds the luggage and the wall picture next to the bed area. Turning right should bring that alcove more centered so I can head into it.", + "The carpet ahead of me is clear along the wardrobe, with the red and blue suitcases and the picture wall marking the alcove on my right. I will step forward to draw level with that alcove where the nightstand stands.", + "I am now beside the alcove, with the red suitcase close on my right and only the entry vestibule straight ahead. Turning right should face me into that corner where the nightstand and its lamp should come into view.", + "The nightstand with the gold lamp now sits at the right side of my view, beyond the red and blue suitcases, while the bathroom doorway still occupies the left. I will turn right again to bring that nightstand and its gold lamp nearer the center of my heading before advancing.", + "The nightstand carrying the gold lamp is now roughly ahead of me, past the two upright suitcases, but still several steps away. I will move forward along this heading to close the remaining distance.", + "The lamp and its nightstand appear larger and closer now, sitting just beyond the blue suitcase to my right of center. Another forward step should bring me within immediate reach of that nightstand.", + "I am close to the corner now, but the wall and the picture above it fill most of my view while the gold lamp has drifted to the right edge. I will turn right to place the nightstand and its lamp squarely in front of me.", + "The nightstand with the glowing gold lamp is now centered directly ahead, with the bed visible just past it. One more forward step should place me right at the nightstand.", + "The gold lamp stands directly before me on the nightstand top, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b962ff561ebc697ad38236e612bdf39c1a2ab422 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t0_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to the green suitcase by the wall.", + "Type": 0, + "Start_Pose": [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -979.564, + -380.651, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -785.976, + -560.781, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -673.915, + -565.392, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -617.1, + -547.567, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -505.147, + -547.567, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -406.963, + -544.578, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -406.963, + -544.578, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -406.963, + -544.578, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -406.963, + -544.578, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -406.963, + -544.578, + 100.275, + 0.0, + -49.0, + 0.0 + ] + ], + "Rationale": [ + "From the doorway side of this room I can see a green suitcase standing on the carpet near the wall by the open entry, but the large bed lies directly across my straight line to it. I will turn left to face the clear strip of floor along the television wall, which should give me a walkable lane toward that corner.", + "Now the open blue carpet along the console and wardrobe runs ahead of me with no furniture in the way, and the green suitcase is still visible farther on near the entry doorway. I will step forward along this lane to begin closing the distance to it.", + "The wardrobe and the lit entry alcove have grown noticeably larger, and the green suitcase is still standing at the base of the wall beside that opening. The path in front of me remains unobstructed, so I will keep advancing to shorten the remaining gap.", + "My heading has drifted so that the wall and console dominate the left of my view while the entry alcove and the green suitcase sit off to my right. I will turn right to bring that opening back to the center of my view so the remaining approach is a straight walk.", + "The doorway is now centered ahead with the green suitcase visible just inside it against the wall, and the carpet between us is clear. I will move forward along this heading to keep closing on the suitcase.", + "The wardrobe now passes close on my left while the lit entry and the green suitcase beside the doorframe stand plainly ahead. There is still open floor between me and it, so I will advance again.", + "The wardrobe face is now brushing past the left of my view and the green suitcase sits just ahead against the wall next to the open door. The gap looks small but not yet close enough to count as reaching it, so I will step forward once more.", + "The green suitcase is clearly resting on the carpet just beyond the wardrobe, tight against the wall by the open door, and its handles are now distinct. I will take another step forward to bring myself right up beside it.", + "The green suitcase is now clearly visible standing against the wall just beyond the wardrobe edge, near the open doorway on my right. I still have a short gap of open carpet between me and it, so I will step forward to keep closing that distance.", + "The suitcase now sits low and large in the lower part of my view, meaning I am nearly beside it but not yet standing at its position by the wall. One more step forward should bring me right up next to it at the door threshold.", + "I have stepped up beside the doorway and the suitcase has dropped out of my forward view, so only the door leaf, handle and corridor remain visible at eye level. Looking down should tilt my view onto the floor at my feet to confirm the green suitcase is right beside me.", + "With my view tilted down I can see only the top edge of the green suitcase intruding at the lower left corner, so it lies off to my left side. Turning left should bring the suitcase toward the center of my view for a clean confirmation of my position beside it.", + "After turning toward the suitcase side I am facing the wall with the alarm panel and the open door edge, but the suitcase itself sits below my current line of sight. Looking down again should place the floor beside the wall in view so I can verify I am standing right at the green suitcase.", + "The green suitcase stands directly at my feet against the wall beside the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c1387a09f98994d07a7b55c8021fb5a653b7b656 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001024_y-000284_z000100_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Grab the jerry can near the wooden wardrobe with double doors.", + "Type": 5, + "Start_Pose": [ + -1024.314, + -283.551, + 100.275, + 0, + -24, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -581.478, + -541.564, + 10.275, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1024.314, + -283.551, + 100.275, + 0, + -24, + 0 + ], + [ + -1024.314, + -283.551, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -979.564, + -380.651, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -49.0, + 0.0 + ], + [ + -981.025, + -460.782, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + -24.0, + 0.0 + ], + [ + -900.82, + -519.685, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -774.98, + -517.489, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -649.14, + -515.292, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -649.14, + -515.292, + 100.275, + 0.0, + 1.0, + -0.0 + ], + [ + -649.14, + -515.292, + 100.275, + 0.0, + 1.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -581.478, + -541.564, + 10.275, + 0.0, + 0.0, + 0.0 + ], + [ + -650.123, + -493.952, + 70.381, + -28.202, + 51.145, + 1.862 + ], + [ + -650.123, + -493.952, + 70.381, + -28.202, + 51.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 512.5, + 512.5, + 429.4, + 407.6, + 407.6, + 320.1, + 320.1, + 195.0, + 72.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The wooden double door wardrobe stands across the room, but the wide bed fills the space directly ahead of me and blocks a straight walk. I will turn left to face the open carpet lane running along the media unit, which should give me a clear route toward that wardrobe.", + "The lane beside the long media cabinet is now open in front of me, with the tall wooden wardrobe further down on the right. I will walk forward along this clear carpet to close distance on the wardrobe, where the jerry can should be sitting.", + "The red jerry can is now clearly visible on the floor at the near corner of the wooden wardrobe, next to a green case. It is still several strides away, so I will keep walking forward down this open lane to shorten the gap.", + "Walking along the wall has pushed the wardrobe and the red jerry can out to the right edge of my view, with the blank TV wall dominating ahead. I will turn right to bring the can back toward the center of my heading before advancing again.", + "The jerry can now sits ahead of me on the open carpet beside the wardrobe corner, well within my forward path. I will step forward to cut the remaining distance toward it.", + "The wardrobe face is filling the left of my view while the jerry can sits off to my right side of center. I will turn right so my heading points straight at the can, keeping the approach lane clear of the wardrobe edge.", + "The red jerry can is now squarely ahead on the carpet beside the wardrobe, with nothing between us. I will walk forward to close in on it for a grasp.", + "The jerry can is large in the lower part of my view now, right at the foot of the wardrobe, yet still a step beyond comfortable reach. I will take one more step forward so it should come close enough to grab.", + "I am now standing right at the wooden wardrobe with its double doors and handles filling my left side, and the jerry can has come so close that it sits just below my forward view. No further stepping is needed at this range, so I will attempt the grasp now and expect the can to come into my hands.", + "The jerry can is no longer resting on the carpet and is held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab2ab64b8b36ca146ab0df858ae7179e543d9dc4 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the green suitcase, then head toward the bedside lamp.", + "Type": 3, + "Start_Pose": [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -980.67, + -362.024, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -978.957, + -391.106, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -1060.509, + -369.629, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -1060.509, + -369.629, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -983.045, + -448.288, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -915.961, + -529.696, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -915.961, + -529.696, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -793.549, + -558.949, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -793.549, + -558.949, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -670.243, + -533.727, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -546.937, + -508.506, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -546.937, + -508.506, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -424.524, + -537.759, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -424.524, + -537.759, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -424.524, + -537.759, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -514.394, + -516.283, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -604.264, + -494.806, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -690.679, + -475.697, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -690.679, + -475.697, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -690.679, + -475.697, + 100.275, + 0.0, + 36.56, + -0.0 + ], + [ + -690.679, + -475.697, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -690.679, + -475.697, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -663.597, + -364.255, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -657.613, + -283.349, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -657.613, + -283.349, + 100.275, + 0.0, + 86.56, + -0.0 + ] + ], + "Rationale": [ + "From the doorway side of the room I can see the small green case standing on the carpet near the wardrobe, far ahead by the entry alcove. Nothing blocks the open floor between the bed and the wardrobe, so I walk straight ahead to cut down that distance.", + "The green case by the wardrobe has grown a little larger but is still well down the room near the entry. The route in front of me remains clear carpet, so I keep walking to close more of the gap.", + "My last step barely gained ground and the bed's corner now crowds my right while the wardrobe narrows the gap ahead, so this heading is pinching me against furniture. I step back to open space around me before I change direction toward the clearer floor along the television wall.", + "With room around me again, the wide strip of carpet running past the television and low counter looks like the passable lane toward the green case near the wardrobe. I turn left to swing my heading off the bed and onto that open lane.", + "Now the television wall and its counter run away to my left with unobstructed carpet ahead, and the green case sits at the far end beside the wardrobe by the entry. I walk forward along this open lane to reach it.", + "The green suitcase sits at the far end of this passage beside the open doorway, still well away from me. The carpet between the wardrobe and the media unit is clear, so I will keep walking straight ahead to cut that distance down.", + "My heading has crept too far toward the wall with the television and the long cabinet, which now fills most of what I see. The green suitcase has slid to the right edge, barely clearing the wardrobe corner. I will turn right to bring it and the open passage back in front of me.", + "The turn opened the passage in front of me, with the green suitcase standing by the lit doorway straight ahead. Nothing blocks the carpet between here and it, so I will walk forward to close in.", + "The wardrobe's tall side now looms across the left half of my view and my line of travel is grazing it, leaving the green suitcase squeezed into a narrow slot near the doorway. I will turn right to swing clear of that cabinet face and put the open floor toward the suitcase in front of me.", + "With the wardrobe now safely off to my left, the entry area lies open ahead and the green suitcase stands just inside the doorway. I will step forward along this clear stretch of carpet to reach it.", + "The green suitcase now stands close on my left, tucked against the wardrobe beside the open room door. I still have a short gap to cover before I am properly beside it, so I will step forward along this narrow entry passage. The bathroom opening on my right leaves the lane ahead clear.", + "That last step carried me almost past the green suitcase, which has slipped to the very bottom left edge of my view while the bathroom wall fills the right. Turning left should swing my heading back onto the suitcase so I can judge the remaining distance instead of drifting into the doorway.", + "The turn brought the green suitcase back into clear view, standing beside the open door just ahead and slightly left of me. A short walk forward should bring me right alongside it rather than leaving me a pace short.", + "I am now right at the door frame and the green suitcase has dropped below my line of sight, hidden under the near edge of my view. I will look down to confirm it is at my feet before I treat this spot as reached.", + "The green suitcase sits right at my feet against the open door, its handle within arm's reach. I have arrived at it. I mark reaching the green suitcase, then turn my attention back into the room toward the lamp on the bedside table.", + "The green case sits right beside me at the threshold, so I am already where I meant to be and now need the lamp on the nightstand instead. Pressed this close to the open door leaf, I have no room to swing around. Stepping back should open up space to reorient.", + "I have pulled off the threshold, yet the open door leaf and the green case still crowd the narrow entry passage in front of me. Backing up once more should put the doorway behind me and give me a wider slot to turn in toward the room's sleeping side.", + "The wardrobe face now runs along my left and the entry door has receded ahead, but I am still inside the tight corridor between wardrobe and bathroom wall. A further step back should bring me to the wider part of the room where I can turn cleanly toward the lamp.", + "I now have clear floor around me, with the entry door still straight ahead and the bathroom opening to my right. The lamp I want stands on the nightstand back in the sleeping area, which lies behind that right-hand side. Turning right should begin swinging my heading off the entry and into the room.", + "The swing has brought the red case and the framed picture into the right of my view, so I am part way around but still facing the corridor toward the entry. The nightstand and its lamp lie further to that side. Another turn right should carry my heading deeper into the bedroom.", + "Swinging right has brought the far corner of the room into view, and I can now see the shaded lamp glowing on the nightstand at the right edge beside the paired red and blue suitcases. It is still too far off-center for a straight walk toward it. I will turn right again to bring that lamp nearer the middle of my view.", + "The lamp on the nightstand now sits in the right half of my view, with the bed's edge just showing beyond it. A little more rotation should place it straight ahead so I can walk directly at it. I will turn right once more to finish squaring up.", + "The nightstand and its lit lamp are now squarely ahead of me with the headboard and bed to the right, and the carpet between us is clear. Nothing blocks a direct walk, so I will step forward to close the distance to the lamp.", + "The lamp now fills much of my view, its shade and ribbed base clearly close, with the nightstand top just below it. A short step more should put me right at the bedside. I will walk forward again to finish closing in.", + "The bedside lamp stands directly before me at arm's length, filling my view beside the headboard. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d56e637bdc72c1899860ba445f18cc24ef5cf2 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the red suitcase, then move to the wooden wardrobe.", + "Type": 3, + "Start_Pose": [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -1004.064, + -445.025, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -1004.064, + -445.025, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -918.007, + -526.582, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -918.007, + -526.582, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -918.007, + -526.582, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -794.701, + -501.361, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -794.701, + -501.361, + 100.275, + 0.0, + 36.56, + -0.0 + ], + [ + -699.964, + -485.769, + 100.275, + 0.0, + 36.56, + -0.0 + ], + [ + -699.964, + -485.769, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + 36.56, + -0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -639.801, + -380.079, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -592.993, + -492.714, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -592.993, + -492.714, + 100.275, + 0.0, + -63.44, + 0.0 + ] + ], + "Rationale": [ + "The red suitcase stands far across the room against the wall past the bed, and the bed fills the whole direct line in front of me. I turn left toward the open carpet by the television wall, where a clear walking lane should let me work around toward it.", + "Now I face the television and the desk, with the bed's corner still crowding my left shoulder. A second left turn should square me with the free stretch of blue carpet running past the cabinet before I start walking.", + "The carpet ahead between the desk and the cabinet is unobstructed, with the wardrobe standing further along on the right. I will walk forward to cover this open stretch and shorten the distance to the far end of the room.", + "I have come up close to the desk and the television wall, so there is little room to keep walking straight. Turning right should swing my heading back along the length of the room, toward the far end where the suitcase sits.", + "The lane beside the television cabinet now runs straight ahead, past the wardrobe to the lit doorway at the far end. I will walk forward along it to close the remaining distance toward the wall where the luggage stands.", + "I am close in against the cabinet and the television, so my heading is skewed toward the blank wall. Turning right should bring the open floor past the wardrobe, and the far corner where the red suitcase sits, back in front of me.", + "The red suitcase has just appeared at the right edge of my view, standing against the wall beyond the doorway. Another right turn should place it squarely ahead so I can walk straight at it.", + "The red suitcase now stands ahead of me beside a blue one, against the wall under the framed picture. The carpet between us is clear, so I will walk forward to close on it.", + "The red hard-shell suitcase and its blue neighbour stand off to my right against the far wall, while my heading still points down the corridor toward the bathroom doorway. I will turn right to bring the red case onto my forward line before walking to it.", + "The red suitcase now sits ahead of me beside the blue one, next to the low chest with the lamp, with clear carpet between us. I will step forward to cut down that remaining gap.", + "Coming closer has pushed the red case toward the lower right of my view, slightly off my walking line. A short turn to the right should square me onto it so the next steps land me right beside it.", + "The red suitcase is close now, just ahead on my left with the blue one and the lamp chest beside it. I will walk forward once more to stand right at it.", + "I am so near the corner that my view is filled by the wall, the lamp and only the top edge of a case, so I cannot judge how the red suitcase sits relative to my feet. I will look down to bring it properly into view and confirm I am standing at it.", + "With my gaze lowered, the red suitcase fills the near corner of my view right beside my position, the blue case and lamp chest alongside it. I have reached the red suitcase, so I mark arriving here before setting off for the tall wooden wardrobe across the room.", + "Standing at the red case, I face into a tight corner of wall, chest and lamp, while the tall wooden wardrobe stands back along the wall behind my left shoulder. I will turn left to begin swinging my heading off this corner toward it.", + "One turn has only brought blank wall, light switches and a picture frame into view, so the wardrobe is still outside my heading. I will keep turning left to carry my facing further around toward it.", + "Facing this bare stretch of wall with light switches gives me nothing to steer by, though the open doorway and carpet edging at the left tell me the room continues that way. I will turn left again to swing my view toward the tall wooden wardrobe I am heading for.", + "The turn has opened up the entry area, with the green case beside the inner door and a pale wooden panel just entering the left edge of my view. That panel looks like the side of the wardrobe I want, so I will turn left once more to bring it into the middle of my view.", + "The wardrobe now fills the left half of my view, its tall wooden doors and pair of vertical handles clearly showing, but it still sits off to my side rather than ahead. I will turn left once more so that I face it squarely before closing in.", + "The wooden wardrobe is now centered in front of me, both doors and handles fully in view, with clear carpet between us. I will walk straight ahead to close the remaining gap and stand at it.", + "The wooden wardrobe's doors and handles fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d36612d1b41cb2e87b0b0188167fc070e364ce8 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the wall-mounted TV, then proceed to the brown door.", + "Type": 3, + "Start_Pose": [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -977.995, + -411.059, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -982.968, + -447.959, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -916.281, + -529.311, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -916.281, + -529.311, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -865.371, + -560.802, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -865.371, + -560.802, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -865.371, + -560.802, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -865.371, + -560.802, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -865.371, + -560.802, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -865.371, + -560.802, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -742.065, + -535.58, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -618.759, + -510.359, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -495.453, + -485.137, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -495.453, + -485.137, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -373.041, + -514.39, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -373.041, + -514.39, + 100.275, + 0.0, + -13.44, + 0.0 + ] + ], + "Rationale": [ + "The wall-mounted TV sits far to my left edge, almost clipped by the border of my view, while the bed fills the space ahead of me. I will turn left so the screen and the low wooden console beneath it come into the middle of my view. That should give me a clean line to walk along toward it.", + "The TV now hangs clearly in the left half of my view with open blue carpet running between me and the console wall. Nothing blocks that stretch, so I will walk forward to cut down the distance to the screen.", + "The screen has grown noticeably larger and the console below it now stretches along my left side, so I am closing in but still short of it. The floor ahead past the wardrobe remains clear. I will keep walking forward to draw nearer to the TV.", + "The TV dominates the left wall and the wardrobe edge is coming up on my right, yet I am still a few paces off from standing beneath the screen. The lane between the console and the wardrobe stays open. I will step forward again to close that remaining gap.", + "The TV is now very close but skewed hard to my left, with only its lower corner and the console filling that side of my view. Turning left should square me up with the screen so I can judge how much further I need to walk. That alignment matters before I commit to the last steps.", + "The screen now sits squarely in front of me above the wooden console, but there is still a short gap of floor before I am directly under it. I will walk forward to stand right at the TV.", + "I am close enough that only the bottom edge of the screen and the console top fill my view, so the TV itself is cut off above me. I will look up to bring the whole mounted screen into view and confirm I am standing right at it.", + "The whole wall-mounted screen now fills my view from just below it, its frame and lower bracket right above me. I have reached the TV. I mark reaching it and now set off for the brown door across the room.", + "The screen fills my view because I am standing right at the wall-mounted panel, so there is nothing more to gain facing it. My other destination, the brown door, lies back across the room to my right, past the wardrobe. I will turn right to swing my heading off this wall.", + "Turning has already brought the wardrobe and the lit opening beyond it into the right edge of my view, with the brown door faintly visible through it. My heading is still angled too far toward the blank wall and the shelf. Another right turn should bring that opening closer to center.", + "The corridor past the wardrobe is now open in front of me with the brown door showing at its end, but it still sits left of my centerline while the shelf edge crowds my left. One more right turn should square my body with the carpeted passage so I can walk it straight.", + "I now face down the open stretch of carpet, with the wardrobe on my left and the luggage and bathroom doorway on my right. The brown door stands at the far end of this route with nothing blocking the floor between us. I will walk forward to close that distance.", + "The last step brought the wardrobe doors alongside me and enlarged the brown door in the opening ahead. The floor between me and that opening is still clear apart from the green case tucked against the wardrobe. I will keep walking forward toward the door.", + "I am at the mouth of the entry alcove now, with the bathroom opening on my right and the room door swung back on my left. The brown door is clearly visible straight through the threshold, still a few paces off. Another step forward should bring me to that threshold.", + "I have reached the threshold, but my heading is skewed so the opening and the brown door beyond it sit toward my left while the wall and bathroom edge fill the right. Turning left should center that doorway and put the brown door directly ahead for a straight walk through.", + "The doorway is squarely in front of me now and the brown door stands plainly across the tiled landing beyond it. Nothing blocks the opening except the swung-back door panel at my left. I will step forward through it to close on the brown door.", + "The brown paneled door stands directly ahead of me, close across the red rug. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a6e0293d958eff9052c1a4f90233c574b74f06 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t3_d/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Navigate to the brown door, then walk to the blue rolling suitcase.", + "Type": 3, + "Start_Pose": [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -1004.064, + -445.025, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -940.775, + -549.468, + 100.275, + 0.0, + -63.44, + 0.0 + ], + [ + -940.775, + -549.468, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -940.775, + -549.468, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -818.917, + -560.864, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -818.917, + -560.864, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -695.611, + -535.642, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -572.305, + -510.421, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -448.999, + -485.2, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -448.999, + -485.2, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -448.999, + -485.2, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -351.476, + -542.915, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -351.476, + -542.915, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -423.849, + -485.47, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -423.849, + -485.47, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -513.719, + -463.994, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -603.588, + -442.517, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -603.588, + -442.517, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -684.955, + -466.629, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -684.955, + -466.629, + 100.275, + 0.0, + 36.56, + -0.0 + ], + [ + -684.955, + -466.629, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -641.706, + -358.428, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -641.706, + -358.428, + 100.275, + 0.0, + 61.56, + -0.0 + ] + ], + "Rationale": [ + "The brown door shows through the far doorway ahead, but the wide bed occupies the whole right side and blocks any straight line toward it. I turn left to swing my heading off the bed and toward the open carpet along the media wall, where a walkable lane should appear.", + "The bed corner still cuts into the right of my view, so my heading is not yet clear of it. A second left turn should place the open carpet strip past the wardrobe and console squarely in front of me for an unobstructed walk.", + "Now the desk, console and wardrobe stand along an open stretch of carpet with nothing in my path. I walk forward along this clear lane to cross the room toward the wardrobe side, where the passage to the brown door opens.", + "The console and wall have grown much larger, so I am closing on the far side of the room but still have floor in front of me. I step forward again to reach the corner near the wardrobe, from where the passage toward the brown door should be reachable.", + "Blank wall and the console top now fill almost my entire view, which means I am right up against this side of the room and cannot usefully continue this way. I turn right to bring the room and the wardrobe passage back into sight.", + "The wardrobe edge and a lit passage with the brown door beyond it have appeared on the right of my view, still well off my heading. A second right turn should put that passage and the door straight in front of me before I walk.", + "The brown door is now framed straight ahead at the end of the passage past the wardrobe, with clear carpet between us. I walk forward to close that distance along the corridor.", + "The wardrobe now looms very close on my left and its corner crowds the line I would take into the passage. I turn right to gain clearance past that corner and keep the doorway with the brown door in my open path.", + "From this heading the entry passage runs straight ahead, and through the open doorway at its end I can see the dark brown panelled door across the lobby. Walking forward along the carpet should carry me down the passage and close much of the distance to it.", + "The brown panelled door has grown larger through the opening ahead, so my heading down this passage is good. Nothing blocks the floor between me and the threshold, so I will keep walking forward to shorten the gap.", + "The doorway frame now fills much of my view and the brown panelled door with its rug sits just beyond it. Another step forward should bring me onto the threshold and within a stride of that door.", + "At the threshold the opening and the brown panelled door have slid off to my left while a blank wall takes the right half of my view. Turning left should bring that door back toward the middle of my view and line me up to step through.", + "The brown panelled door is back in view past the open leaf, but I am still angled across the opening. A second turn left should square me with the passage so my next step goes cleanly toward that door.", + "I am now squared with the opening and the brown panelled door stands just across the tiled floor with the red rug in front of it. Stepping forward should put me right at that door.", + "The dark brown panelled door is right beside me across the threshold, close enough to touch its frame. I have reached the brown door. I mark reaching it, then set off back into the room for the blue rolling suitcase.", + "The open leaf is pressed close in front of me, leaving no room to swing around here. The blue rolling suitcase stands back inside the room behind me, so backing straight out of this doorway is the quickest way to start toward it without a wasted full turn.", + "The brown door across the lobby is already behind me and the open leaf of the room door still crowds the left of my view. I will turn right to square my heading with this doorway so that stepping back should carry me cleanly into the room where the blue rolling suitcase stands.", + "The doorway is now centered with the brown door beyond it, so my back is toward the room interior. Backing straight up should pull me off this threshold and into the room without spending turns to spin around.", + "I am back over the patterned room carpet with the green case beside the door frame, yet the doorway still fills most of my view. Another backward step should put more of the room behind me and bring me nearer the luggage corner by the bed.", + "From here the entry doorway sits ahead and the bathroom opening is on my right, so my current backward line would run along the wrong side of the room. Turning right should angle me so continued backward steps carry me toward the sleeping area where the standing cases are.", + "The doorway has swung to my left and the bathroom opening is beside me, which means the open part of the room lies behind my back. I will step backward again to move deeper toward the corner where the upright suitcases are parked.", + "A red hard case has just come into the right edge of my view against the far wall, and the blue one should stand beside it. I will turn right to bring that luggage corner out of the periphery and into the middle of my view.", + "The red and the blue rolling suitcases now sit together against the wall by the lamp, but they are still off toward the right of my view. One more turn right should place the blue case near the center so I can walk straight at it.", + "The blue rolling suitcase now stands ahead of me beside the nightstand with its handle raised, and only a short stretch of carpet separates us. I will walk forward to close that remaining gap and stand beside it.", + "The blue rolling suitcase stands directly at my feet, its handle right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t5_a_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6659e33d2431bf7b39e9fa2f26afff1c2eaa829e --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001060_y-000332_z000100_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Grab the candelabra beside the green suitcase, then set it down near the bedside lamp.", + "Type": 5, + "Start_Pose": [ + -1060.34, + -332.448, + 100.275, + 0, + -13.44, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -540.888, + -535.238, + 15.275, + 0, + 90, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.34, + -332.448, + 100.275, + 0, + -13.44, + 0 + ], + [ + -1060.34, + -332.448, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -977.995, + -411.059, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -982.968, + -447.959, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -916.281, + -529.311, + 100.275, + 0.0, + -38.44, + 0.0 + ], + [ + -916.281, + -529.311, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -793.869, + -558.564, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -672.375, + -563.886, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -672.375, + -563.886, + 100.275, + 0.0, + -13.44, + 0.0 + ], + [ + -672.375, + -563.886, + 100.275, + 0.0, + 11.56, + -0.0 + ], + [ + -672.375, + -563.886, + 100.275, + 0.0, + 36.56, + -0.0 + ], + [ + -672.375, + -563.886, + 100.275, + 0.0, + 61.56, + -0.0 + ], + [ + -672.375, + -563.886, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -664.822, + -438.253, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -657.27, + -312.621, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -661.59, + -384.491, + 100.275, + 0.0, + 86.56, + -0.0 + ], + [ + -661.59, + -384.491, + 100.275, + 0.0, + 86.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -540.888, + -535.238, + 15.275, + 0.0, + 90.0, + -0.0 + ], + [ + -668.005, + -542.975, + 70.381, + -28.202, + 36.704, + 1.862 + ], + [ + -677.451, + -542.15, + 70.654, + -28.189, + 61.716, + 1.872 + ], + [ + -685.668, + -545.703, + 69.987, + -28.215, + 86.687, + 1.849 + ], + [ + -693.111, + -546.437, + 70.041, + -14.092, + 103.903, + 6.87 + ], + [ + -693.829, + -563.033, + 70.057, + -28.208, + 136.702, + 1.851 + ], + [ + -686.186, + -437.668, + 70.478, + -28.189, + 136.718, + 1.869 + ], + [ + -678.64, + -312.312, + 70.861, + -28.205, + 136.695, + 1.859 + ], + [ + -657.39, + -314.617, + 70.275, + 0.0, + 16.56, + -0.0 + ], + [ + -657.39, + -314.617, + 70.275, + 0.0, + 16.56, + -0.0 + ] + ], + "PD_Dist_2D": [ + 557.6, + 557.6, + 454.4, + 450.6, + 375.4, + 375.4, + 254.1, + 134.6, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The big bed fills the right side of my view and blocks any straight path, while the wardrobe and the entry alcove holding the green suitcase sit further left along the open carpet. I turn left to put that clear walkway in front of me before advancing toward the candelabra's likely position beside the suitcase.", + "With the TV wall and long console on my left and the wardrobe with the green suitcase ahead, the floor in front of me is clear of furniture. I step forward along this open lane to close distance on the alcove where the candelabra should stand beside the suitcase.", + "From here I can now make out the branched candelabra standing on the carpet just past the wardrobe corner, right beside the green suitcase. Nothing obstructs the lane ahead, so I keep walking forward to bring that pickup spot within reach.", + "The candelabra and the green suitcase are still some way off near the entry hallway, sitting slightly right of my current heading. I advance again along the open carpet to shorten that gap before adjusting my facing.", + "Walking forward has pushed the candelabra toward the right edge of my view, with the wardrobe face now filling the space straight ahead. I turn right to bring the candelabra and the alcove floor back to the center of my heading so my next steps lead straight to it.", + "The candelabra is now centered in my view, standing on the carpet with the green suitcase behind it near the open entry door. The passage beside the wardrobe is clear, so I walk forward to close in on it.", + "The candelabra is much larger in front of me now but its base still sits beyond comfortable arm's reach on the carpet. I take one more step forward so the grasp point is directly below me before attempting the pick.", + "The candelabra's arms are right at the bottom of my view, beside the green suitcase in the entry alcove, so I am standing directly over it. My hands are empty and nothing blocks the approach, so I will reach down and try to grasp it now.", + "The grasp worked, since the candelabra is now in my hands rather than standing on the carpet by the green suitcase. The bedside lamp is back in the sleeping area behind me, not along this wardrobe corridor. I will turn right to begin swinging my heading around toward that side of the room.", + "I am still carrying the candelabra, but ahead of me are only the wardrobe, the entry door and the bathroom opening, with no sign of the bed or its lamp. My reorientation toward the sleeping area is not finished yet. I will keep turning right to bring that part of the room into view.", + "The rotation is paying off, as the red and blue suitcases at the corner of the sleeping alcove now edge into the right side of my view. The nightstand lamp is still hidden past that corner wall. I will turn right once more to face further into the bedroom.", + "Turning further has brought the bed, the nightstand and the glowing bedside lamp into the right portion of my view, while the bathroom doorway still occupies the left. My heading is close but the lamp is not yet straight ahead of me. One more right turn should line up a clear walking path toward it.", + "The nightstand with the lit lamp now sits ahead of me with the bed to its right and the suitcases to its left, so my heading is good. The candelabra is still in my hands and I am several steps short of placing range. I will walk forward to close that distance.", + "The lamp and its nightstand are noticeably larger and slightly right of center now, so the previous step brought me properly closer. I still stand too far back to set the candelabra down beside the lamp. I will advance another step to reach a comfortable placement distance.", + "The bedside lamp and the top of its nightstand now fill my view at arm's reach, with the headboard just to the right. This is the spot the task asks for, and the candelabra is still in my hands. I will release it here so it should come to rest next to the lamp.", + "The candelabra now stands on the nightstand directly beside the lit bedside lamp, and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd2e82a8cb97684ab0a2dd1951a711d5c68c183 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the second suitcase from the right.", + "Type": 2, + "Start_Pose": [ + -1060.554, + -442.603, + 100.275, + 0.0, + -14.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.554, + -442.603, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -973.085, + -481.02, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -861.453, + -520.909, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -861.453, + -520.909, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -737.741, + -497.757, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -737.741, + -497.757, + 100.275, + 0.0, + 35.6, + -0.0 + ], + [ + -636.277, + -442.202, + 100.275, + 0.0, + 35.6, + -0.0 + ], + [ + -636.277, + -442.202, + 100.275, + 0.0, + 35.6, + -0.0 + ] + ], + "Rationale": [ + "Counting the luggage in this room from the right, the blue case by the nightstand is the outermost and the red one beside it is the second, so the red suitcase is my target. It sits far down the room past the wardrobe, so I will walk forward to close that distance.", + "The red suitcase is nearer now but still well down the room, pushed toward the right edge of my view as I advance along the open carpet. The lane past the wardrobe stays clear, so I will keep walking forward.", + "Walking straight ahead has carried the red suitcase almost out of my view, with only a sliver of it at the far right edge while the corridor and bathroom door fill my front. I will turn right to bring it back in front of me before continuing.", + "The turn has put the red suitcase clearly in view ahead on the right, standing against the wall with the blue one next to it. The floor between us is open, so I will step forward to close the remaining gap.", + "I am nearly level with the red suitcase, but it has slid to the lower right corner of my view while my heading points at the doorway ahead. Turning right should square me up with it for the last few steps.", + "The red suitcase now sits squarely ahead of me beside the blue one, with only a short stretch of carpet left. I will walk forward to finish closing that distance.", + "The red suitcase fills the bottom of my view at arm's length, with the blue one just behind it. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad670934b75268166d607edab8b5d009a38b8fec --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x-001061_y-000443_z000100_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the third suitcase from the left.", + "Type": 2, + "Start_Pose": [ + -1060.554, + -442.603, + 100.275, + 0.0, + -14.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookDown", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1060.554, + -442.603, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -973.085, + -481.02, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -861.453, + -520.909, + 100.275, + 0.0, + -14.4, + 0.0 + ], + [ + -861.453, + -520.909, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -737.741, + -497.757, + 100.275, + 0.0, + 10.6, + -0.0 + ], + [ + -737.741, + -497.757, + 100.275, + 0.0, + 35.6, + -0.0 + ], + [ + -636.277, + -442.202, + 100.275, + 0.0, + 35.6, + -0.0 + ], + [ + -636.277, + -442.202, + 100.275, + 0.0, + 60.6, + -0.0 + ], + [ + -636.277, + -442.202, + 100.275, + 0.0, + 85.6, + -0.0 + ], + [ + -645.829, + -321.955, + 100.275, + 0.0, + 85.6, + -0.0 + ], + [ + -645.829, + -321.955, + 100.275, + 0.0, + 85.6, + -0.0 + ], + [ + -645.829, + -321.955, + 100.275, + 0.0, + 60.6, + -0.0 + ], + [ + -645.829, + -321.955, + 100.275, + 0.0, + 60.6, + -0.0 + ], + [ + -645.829, + -321.955, + 100.275, + 0.0, + 60.6, + -0.0 + ] + ], + "Rationale": [ + "Counting the cases along the right side of the room, the green one by the closet doorway comes first, then the red, then the blue standing against the nightstand under the lamp, so my target is that blue case. It lies well down the room from where I stand. I will walk forward to begin closing that distance.", + "The blue suitcase and its neighbour are now at the right edge of my view, still a fair way down the room. Nothing blocks the carpet ahead of me. I will keep walking forward to close in before turning toward it.", + "Walking straight on has swung the wardrobe across my view and carried the suitcases off to my right, with only a sliver of the red one showing at the frame edge. I will turn right to bring the blue case and its nightstand back in front of me.", + "The turn has put both the red case and the blue one beside the nightstand clearly ahead on my right. They are still several paces away across open carpet. I will walk forward to shorten the gap toward the blue suitcase.", + "Advancing has slid the pair toward the right border again, leaving mainly the red case's side panel in frame while the blue one is nearly cut off. Turning right should recentre the blue suitcase and the nightstand in my view before I step in further.", + "The blue suitcase now stands plainly beside the lamp-topped nightstand, just right of the red one. A short stretch of carpet still separates me from it. I will step forward to close that remaining distance.", + "Stepping in has brought me right up against the wall corner, so the red case fills my lower frame and the blue one has slipped behind it at the right edge. I will turn right to face the blue suitcase and the nightstand corner directly.", + "I am nearly on top of the blue suitcase, but the wall corner and the red case sit between me and a straight approach. Another turn right should point me along the open floor beside the nightstand so I can step up to the blue case.", + "Now that I face along the open floor, the blue suitcase sits low on my left against the nightstand, with the bed and lamp marking that corner. Only a short step of carpet remains. I will walk forward to draw level with it.", + "I am close enough that the lamp and its table fill my view at eye height, and the suitcase beside them falls below where I am looking. I will look down to bring the floor at the nightstand corner into view and confirm the blue case is right at my side.", + "With my gaze lowered I can see the nightstand, the carpet, and just a pale sliver of the blue case cutting in at the lower left. It sits further left than I am facing. Turning left should place it squarely before me.", + "The turn has swung the nightstand to my right and put the suitcase's raised handle at my lower left, so the case itself is under my line of sight. I will look down again to take in the blue case standing at my feet.", + "The blue suitcase stands directly at my feet beside the lamp table. I have arrived at it, so there is nothing more to do." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceaa7591becd4094487b8ad6e805ce1b35848beb --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the red suitcase on the luggage cart.", + "Type": 0, + "Start_Pose": [ + 3.51, + -240.521, + 99.838, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.51, + -240.521, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 5.092, + -114.672, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 5.092, + -114.672, + 99.838, + 0.0, + 114.28, + -0.0 + ], + [ + -46.661, + 0.054, + 99.838, + 0.0, + 114.28, + -0.0 + ], + [ + -98.414, + 114.781, + 99.838, + 0.0, + 114.28, + -0.0 + ], + [ + -98.414, + 114.781, + 99.838, + 0.0, + 114.28, + -0.0 + ] + ], + "Rationale": [ + "Down the corridor I can already spot the brass luggage cart on the right side with a red suitcase standing beside it. It is still far off, so I will move forward along the red carpet to close the distance before making any heading adjustment.", + "The cart and the red suitcase are now noticeably closer but sit to the right of my current heading, near the room doors on that side. I will turn right to bring the red suitcase toward the center of my view so the next forward moves take me straight to it.", + "After the turn the luggage cart and the red suitcase beside it are centered in my view along the alcove by the guest doors. The path in front is clear carpet and tile, so I will move forward to close the remaining gap.", + "The red suitcase is only a short distance ahead, standing at the foot of the cart beside door 306. One more step forward should place me right at it, close enough to count as reaching the target.", + "The red suitcase and the brass luggage cart are directly beside me, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd4db4fc30c0c87ac340f872eb99998c34535ff1 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the brass luggage cart in the hallway.", + "Type": 0, + "Start_Pose": [ + 3.51, + -240.521, + 99.838, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.51, + -240.521, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 5.092, + -114.672, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 6.673, + 11.177, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 8.255, + 137.026, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 8.255, + 137.026, + 99.838, + 0.0, + 114.28, + -0.0 + ], + [ + -31.469, + 237.231, + 99.838, + 0.0, + 114.28, + -0.0 + ], + [ + -31.469, + 237.231, + 99.838, + 0.0, + 114.28, + -0.0 + ] + ], + "Rationale": [ + "The brass luggage cart with its arched frame stands ahead on the right side of the carpeted hallway, loaded with a grey case and a green suitcase. My heading down the corridor already points close enough to it that no turn is needed yet. I will walk forward to begin closing the gap.", + "The cart has grown noticeably larger and its gold uprights are now clearly separated, confirming I am closing on it. It still sits slightly right of my heading, but the remaining distance is the main thing to reduce. I will keep walking straight ahead.", + "The luggage cart now fills a good part of the right half of my view, with its wheels and loaded suitcases distinct. I am still a few steps short of standing beside it, so more forward travel is the efficient move. I will advance again along the corridor.", + "The brass cart is now very close but sits off to my right, pushed toward the edge of my view while my heading still points down the empty corridor. A modest turn to the right should put the cart squarely in front of me before I take the last step. I will turn right to align on it.", + "The turn has brought the brass cart and its green and grey cases into the center of my view, so my heading now points straight at it. Only a short gap remains between me and its frame. I will step forward to close that last distance.", + "The brass cart's uprights and its loaded suitcase are right in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a895a30024dc08478babb5946ada17ed4d1ab68 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t0_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the red fire alarm box on the wall.", + "Type": 0, + "Start_Pose": [ + 3.51, + -240.521, + 99.838, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveBackward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.51, + -240.521, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 3.51, + -240.521, + 99.838, + 0.0, + 64.28, + -0.0 + ], + [ + 58.129, + -127.131, + 99.838, + 0.0, + 64.28, + -0.0 + ], + [ + 106.818, + -13.989, + 99.834, + 0.0, + 64.28, + -0.0 + ], + [ + 106.818, + -13.989, + 99.834, + 0.0, + 39.28, + -0.0 + ], + [ + 106.818, + -13.989, + 99.834, + 0.0, + 14.28, + -0.0 + ], + [ + 106.818, + -13.989, + 99.834, + 0.0, + -10.72, + 0.0 + ], + [ + 16.031, + 3.198, + 99.834, + 0.0, + -10.72, + 0.0 + ], + [ + 106.871, + -19.292, + 99.82, + 0.0, + -10.72, + 0.0 + ], + [ + 106.871, + -19.292, + 99.82, + 0.0, + -10.72, + 0.0 + ], + [ + 106.871, + -19.292, + 99.82, + 0.0, + -10.72, + 0.0 + ] + ], + "Rationale": [ + "From the corridor entrance I can see a small red fire alarm box mounted on the left-hand wall partway down the hall. I will turn left to bring that wall and the box toward the center of my view before advancing.", + "The red alarm box is now visible on the wall panel ahead and slightly left, with clear tiled floor between me and it. I will walk forward to close the distance along this wall.", + "The alarm box has grown noticeably larger near the left edge of my view, so I am still short of it. I will keep stepping forward along the corridor to reach the wall section that carries it.", + "My forward motion has carried me alongside the wall, so the alarm box now sits behind the left edge of my view while the corridor stretches off to the right. I will turn left to face that wall and bring the box back toward the center of my view.", + "I am now angled at the wall panels but the alarm box is still outside my view to the left. I will continue rotating left to keep sweeping the wall surface toward the box.", + "Only blank wall texture is in front of me, so my heading is not yet squared onto the panel holding the alarm. I will turn left once more to finish aligning with that wall face.", + "I am standing so close to the wall that only its texture is visible and I cannot confirm the alarm box position. I will step backward to gain a little viewing distance so the panel and the red box should come into view.", + "With the extra distance the red fire alarm box is clearly visible, centered on the wall panel just ahead of me. I will move forward to stand directly in front of it at arm's reach.", + "I am now standing right against the paneled wall, so close that only its ribbed surface occupies my view and the alarm box sits above my current line of sight. Raising my gaze should bring the red wall-mounted alarm box back into view and confirm I am directly in front of it.", + "The red fire alarm box is now visible at close range on the wall just above me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..30da9c9961c9015c8e23891eda819d2cd64a2fd6 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Grab the jerry can beside the red suitcase near the luggage cart.", + "Type": 5, + "Start_Pose": [ + 3.51, + -240.521, + 99.838, + 0, + 89.28, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -44.388, + 194.623, + 19.838, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.51, + -240.521, + 99.838, + 0, + 89.28, + 0 + ], + [ + 5.092, + -114.672, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 6.673, + 11.177, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 6.673, + 11.177, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 6.673, + 11.177, + 99.838, + 0.0, + 89.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -44.388, + 194.623, + 19.838, + 0.0, + 0.0, + 0.0 + ], + [ + -44.388, + 194.623, + 19.838, + 0.0, + 0.0, + 0.0 + ], + [ + -44.388, + 194.623, + 19.838, + 0.0, + 0.0, + 0.0 + ], + [ + -14.687, + 10.835, + 69.945, + -28.202, + 139.425, + 1.862 + ], + [ + -14.687, + 10.835, + 69.945, + -28.202, + 139.425, + 1.862 + ] + ], + "PD_Dist_2D": [ + 437.8, + 313.2, + 190.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The jerry can sits far ahead on the corridor carpet beside the red suitcase and the golden luggage cart. It is well out of reach from here, so I will walk straight down the runner to close that distance. My heading already lines up with the luggage group, so no turn is needed yet.", + "The jerry can and the red suitcase are noticeably larger ahead on the right side of the runner, but still beyond grabbing range. I will keep walking forward along the same heading to bring the can within reach.", + "The jerry can is now directly in front of me at the edge of the carpet, right beside the red suitcase and under the luggage cart frame. This is close enough for a grasp, so I will attempt to pick it up.", + "The jerry can is held in my hands, no longer resting beside the red suitcase. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t5_b_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..04dcdc329aa43efc35c724b143525663f21da329 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000241_z000100_t5_b_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the candelabra near the housekeeping cart in the hallway.", + "Type": 5, + "Start_Pose": [ + 3.51, + -240.521, + 99.838, + 0, + 89.28, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 79.215, + 300.54, + 14.838, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.51, + -240.521, + 99.838, + 0, + 89.28, + 0 + ], + [ + 5.092, + -114.672, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 6.673, + 11.177, + 99.838, + 0.0, + 89.28, + -0.0 + ], + [ + 6.673, + 11.177, + 99.838, + 0.0, + 64.28, + -0.0 + ], + [ + 61.293, + 124.567, + 99.838, + 0.0, + 64.28, + -0.0 + ], + [ + 61.293, + 124.567, + 99.838, + 0.0, + 64.28, + -0.0 + ], + [ + 61.293, + 124.567, + 99.838, + 0.0, + 64.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 79.215, + 300.54, + 14.838, + 0.0, + 0.0, + 0.0 + ], + [ + 79.215, + 300.54, + 14.838, + 0.0, + 0.0, + 0.0 + ], + [ + 79.215, + 300.54, + 14.838, + 0.0, + 0.0, + 0.0 + ], + [ + 79.215, + 300.54, + 14.838, + 0.0, + 0.0, + 0.0 + ], + [ + 79.215, + 300.54, + 14.838, + 0.0, + 0.0, + 0.0 + ], + [ + 41.79, + 133.284, + 69.945, + -28.202, + 114.424, + 1.862 + ], + [ + 41.79, + 133.284, + 69.945, + -28.202, + 114.424, + 1.862 + ] + ], + "PD_Dist_2D": [ + 546.3, + 421.8, + 298.3, + 298.3, + 176.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From the near end of this hotel corridor I can see the housekeeping trolley on the left and, just beside it, the tall golden candelabra standing on the carpet. It is still far down the hallway, so I walk straight ahead along the runner to close that gap.", + "The trolley and the candle stand next to it have grown noticeably larger, confirming I am heading the right way. The candelabra is still several paces off and out of reach, so I continue walking forward down the corridor.", + "I am now close to the luggage trolley on my right, and the candelabra sits off to the left in front of the housekeeping cart, near the edge of my view. Turning left should swing my heading onto it so I can walk straight into grasping range.", + "The candelabra with its curved brass arms now sits ahead of me by the housekeeping cart, centred in my view. It is still a couple of steps away, so I walk forward to bring it within arm's reach before attempting a grasp.", + "The candelabra's candle arms are directly in front of me at the very edge of the carpet, close enough that nothing separates my hands from its stem. This is the object named in the task, so I will attempt to pick it up now.", + "The candelabra is held in my hands and no longer stands on the hallway carpet. The task target is secured, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a5f913cba197a58a0c77a87636f7783c70da11d5 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the gold-framed painting, then proceed to the red suitcase.", + "Type": 3, + "Start_Pose": [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + 3.717, + -522.704, + 99.838, + 0.0, + 62.36, + -0.0 + ], + [ + 62.105, + -411.208, + 99.838, + 0.0, + 62.36, + -0.0 + ], + [ + 106.971, + -299.654, + 99.838, + 0.0, + 62.36, + -0.0 + ], + [ + 106.971, + -299.654, + 99.838, + 0.0, + 62.36, + -0.0 + ], + [ + 106.971, + -299.654, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + 106.971, + -299.654, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + 59.091, + -183.259, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + 11.211, + -66.863, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -36.669, + 49.533, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -84.549, + 165.929, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -84.549, + 165.929, + 99.838, + 0.0, + 112.36, + -0.0 + ] + ], + "Rationale": [ + "The gold-framed painting hangs on the left wall of this corridor, well off to the side of my current heading. I will turn left so that wall and its painting come into the center of my view before I start walking. That should give me a clean line toward it.", + "The gold-framed painting is now ahead on the left wall and the carpeted corridor in front of me is clear. I will walk forward to close the distance toward it.", + "The gold-framed painting has grown noticeably larger on the left wall, so my heading is carrying me toward it. Only the standing ashtray bin sits near that stretch of wall, and it does not block my line. Another step forward should bring me alongside the painting.", + "The gold-framed painting now fills the left edge of my view at arm's reach, its frame and glass close enough to see the texture. I have arrived at the painting. I mark reaching it, and now I turn my attention to the red suitcase further along the corridor.", + "Standing this close to the painting, the wall blocks most of my view and I cannot yet see the red suitcase. I will turn right to swing my heading back into the open corridor where the luggage stands. That should start bringing the suitcase into view.", + "The corridor has opened up and I can now make out the red suitcase beside the brass luggage cart, but it still sits right of my center. Another turn right should line my heading up with it before I walk.", + "The red suitcase now sits ahead beside the brass bellhop cart, roughly centered in my path. The carpet between us is open, so I will walk forward to close on it.", + "The red suitcase and the cart beside it have grown larger ahead of me, confirming my heading is good. I am still several paces short of it, so I will keep walking forward.", + "The red suitcase stands upright on the tiled strip beside the brass luggage cart, still several paces ahead on my right. My heading down this corridor lines up with it cleanly, with open carpet between us. I will keep walking forward to close that remaining gap.", + "The red suitcase is now large in the lower right of my view, close to the guest room door, but I am still slightly short of standing beside it. One more step forward should bring me right up alongside it.", + "The red suitcase is directly beside me at arm's reach on the right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0688e51fe5388a6fe224d812e1148c1d31a4dfda --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000004_y-000523_z000100_t3_c/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Navigate to the red suitcase, then walk to the trash bin.", + "Type": 3, + "Start_Pose": [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3.717, + -522.704, + 99.838, + 0.0, + 87.36, + -0.0 + ], + [ + 9.514, + -396.979, + 100.314, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 87.36, + -0.0 + ], + [ + 15.311, + -271.253, + 100.042, + 0.0, + 112.36, + -0.0 + ], + [ + -2.273, + -182.814, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -23.86, + -75.859, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -71.74, + 40.537, + 99.838, + 0.0, + 112.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + 112.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + 112.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + 87.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + 62.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + 37.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + 12.36, + -0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + -12.64, + 0.0 + ], + [ + -119.356, + 157.012, + 99.357, + 0.0, + -37.64, + 0.0 + ], + [ + -19.693, + 80.15, + 99.93, + 0.0, + -37.64, + 0.0 + ], + [ + 79.97, + 3.289, + 99.93, + 0.0, + -37.64, + 0.0 + ], + [ + 79.97, + 3.289, + 99.93, + 0.0, + -62.64, + 0.0 + ], + [ + 107.94, + -100.517, + 99.838, + 0.0, + -62.64, + 0.0 + ], + [ + 107.94, + -100.517, + 99.838, + 0.0, + -62.64, + 0.0 + ] + ], + "Rationale": [ + "Down the long carpeted corridor I can already pick out a red suitcase standing beside the brass luggage cart on the right. Nothing blocks the runner ahead of me, so I will walk straight on to cut that distance.", + "The red suitcase by the cart is bigger in my view than it was, confirming I am closing on it along this straight stretch. The corridor stays open, so another step forward is the simplest way to keep gaining ground.", + "The red suitcase now sits to the right of my heading, tucked against the wall past the luggage cart, while my line of travel runs down the middle of the runner. I will pivot right so my path points at it before continuing.", + "After the pivot the red suitcase and the cart sit near the middle of my view, so my heading now runs toward them. The carpet between us is clear, and walking forward should carry me closer.", + "The red suitcase and the green one on the cart keep growing in front of me, so my heading is still good. I will take another stride along the corridor to keep shrinking the gap.", + "The red suitcase now stands clearly ahead beside the cart wheels, only a short stretch of carpet away. Nothing crowds that gap, so I will keep walking straight toward it.", + "The red suitcase fills the lower part of my view right beside the cart frame and the room door. One more step should bring me level with it rather than leaving it slightly out ahead.", + "The red suitcase is right beside me at the near edge of my view, its handle and body alongside the cart and the guest room door. I have reached it. I mark arriving here before setting off back along the corridor toward the tall trash bin by the wall.", + "The red suitcase and its cart are right at my side, so there is nothing left to do here. My heading faces a blank run of guest doors, while the corridor with the dark bin lies back over my left shoulder. I will start swinging left to bring that corridor into view.", + "The turn has opened part of the corridor past the cart, but I am still angled across it rather than along it. No bin is in sight from this heading yet. I will keep rotating left to sweep more of the passage into view.", + "The hallway with the service trolley is sliding across my view as I come around, yet the direction I need is still further left. Nothing resembling a bin sits in the part of the corridor I can currently see. Another left step of rotation should continue the sweep.", + "I am now facing a bay of guest doors with the trolley in front of them, which is not a route I want. The open stretch of carpet continues away to my left. I will turn left again to keep bringing my heading around toward it.", + "The doors and trolley still block most of my forward view, so I have not yet come round far enough to look down the hallway. The carpet edge at the bottom left shows where the passage runs. I will continue rotating left toward it.", + "A dark cylindrical trash bin has come into the left side of my view, standing against the wall below the fire alarm panel. It is off to one side of my heading rather than in front of me. One more left turn should place it near the center so I can walk straight at it.", + "The trash bin now sits ahead of me beside the wall, with clear carpet and tile between us. My heading points down that stretch of corridor with nothing in the way. I will walk forward to close the distance to it.", + "The bin has grown noticeably larger and now stands just off my left near the fire alarm panel, so the previous step gained real ground. I am still a few paces short of standing beside it. Another step forward should bring me level with it.", + "My heading has drifted into the blank corridor wall, and only the dark rim of the standing bin shows at the far left edge of my view. I will turn left to swing that bin back into the center of my view so I can walk straight at it.", + "The tall bin with its stone top now stands clearly ahead of me against the wall, with open carpet between us. I will step forward to close the short remaining gap and stand beside it.", + "The bin's marble top is right at my feet in the near foreground. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..413e96a0359136d3b27b76ad31d410152fc1a77f --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for a room door that has a red sign hanging on it; once found, proceed to the doorway.", + "Type": 1, + "Start_Pose": [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 150.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 175.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -159.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + -56.701, + 2680.815, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + -145.51, + 2591.633, + 99.275, + 0.0, + -134.88, + 0.0 + ], + [ + -145.51, + 2591.633, + 99.275, + 0.0, + -109.88, + 0.0 + ], + [ + -188.309, + 2473.274, + 99.275, + 0.0, + -109.88, + 0.0 + ], + [ + -193.62, + 2359.295, + 99.275, + 0.0, + -109.88, + 0.0 + ], + [ + -193.62, + 2359.295, + 99.275, + 0.0, + -134.88, + 0.0 + ], + [ + -193.62, + 2359.295, + 99.275, + 0.0, + -134.88, + 0.0 + ] + ], + "Rationale": [ + "I am tucked into a dim corner facing only a hanging curtain, a paneled wall, and a standing ashtray bin, so no room door or red sign is available to me here. I will turn right to begin a steady scan of the surroundings for a corridor with guest doors.", + "The rotation has only shifted the curtain to my left and brought more blank paneling and a wooden edge into view, still with no door in sight. I will keep turning in the same rightward direction to continue the scan toward whatever opens past this panel.", + "A wooden guest door with a hanger on its handle is now just entering the right edge of my view beyond the paneled column, which suggests a room corridor lies in that direction. I will turn right again to bring that corridor and its doors fully in front of me.", + "The corridor is now open in front of me with two guest doors, the nearer one carrying a green hanger and the farther one showing a reddish tag on its handle. I will turn right once more to line my heading up with the corridor so I can move along it toward that farther door.", + "I am now facing down the corridor with the doors on my left, and the door beside the 309 plate appears to carry a red hanger on its handle. I will walk forward along the corridor to close the distance and confirm that sign.", + "From closer range the first door clearly bears a green hanger, while the recessed door under the 309 plate shows a red tag at its handle. I will keep walking forward to reach that 309 doorway.", + "I have drifted close to the left wall panel, which now fills most of my view and crowds the path toward the 309 door on my right. I will turn right to reopen the corridor ahead and point myself at that recessed doorway.", + "The turn has cleared my heading, and the door under the 309 plate with a red hanger at its handle now sits ahead of me with open floor between us. I will step forward to bring myself up to that doorway.", + "The door numbered 309 is close on my left and I can see a small red tag hanging at its handle, which matches the red sign I am looking for. I am still slightly short of the doorway itself, so I will step forward again to bring myself level with the door recess. This should place me at the threshold where the sign can be confirmed clearly.", + "I am now standing right at the recess of the 309 door, with its panels filling the left side of my view and the number plate above the frame. Since the door and its hanging tag are off to my left, I will turn left to face the doorway squarely and read the red sign directly.", + "I am facing the doorway with the red sign hanging on its handle directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aaba274b3eeb3893953b224d639c5e4b7aaa4470 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Locate the housekeeping cart with metal shelves in the hallway; after spotting it, navigate to where it is parked.", + "Type": 1, + "Start_Pose": [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 150.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 175.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -159.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + -10.691, + 2651.638, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + -53.489, + 2533.28, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + -53.489, + 2533.28, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + -42.257, + 2407.923, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + -42.257, + 2407.923, + 99.838, + 0.0, + -84.88, + 0.0 + ] + ], + "Rationale": [ + "My view is filled with a sheer curtain, a dark wall panel and a standing ashtray bin, so no hallway or cart is visible from here. I will turn right to begin a consistent scan toward the open side of this alcove where a corridor is more likely to appear.", + "The rotation only brought more of the frosted panel and the bin into view, with a hint of wooden cabinetry appearing at the right edge. I will keep turning right in the same direction, since that wood paneling may open toward a corridor.", + "A wooden door and paneled wall are now visible past the frosted partition on the right, which looks like the edge of a guest corridor. I will continue the same rightward scan to bring that corridor fully into view and check it for a housekeeping cart.", + "I can now see a lit corridor with guest room doors and tiled floor ahead, so this is the hallway I need to search. I will turn right again to sweep further along the corridor and look for the metal-shelved cart.", + "A cart with metal shelves is now visible on the red carpet ahead to the right, matching the housekeeping cart I am looking for. I will turn right once more to bring it closer to the center of my view before walking toward it.", + "The metal-shelved cart is now centered down the corridor ahead of me, parked beside the carpet near a guest room door. I will walk forward along the hallway to close the distance to it.", + "The cart is noticeably larger and its shelves with trays and cups are clearly resolved, but it is still several steps away and slightly right of my heading. I will keep walking forward to reach its parked position.", + "I am close to the cart now, but it sits low in the right part of my view rather than straight ahead of me. I will turn right to line my heading up with the cart's parking spot before stepping in.", + "The housekeeping cart with its metal shelves stands clearly ahead of me on the left side of the corridor, its trays and dishes plainly visible near door 309. The floor between us is open, with only the suitcase parked well off to the right, so nothing blocks a straight step forward. I will walk forward to close the last bit of distance and stand at the spot where the cart is parked.", + "The metal-shelved housekeeping cart is right beside me, filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a389091fe82c9b6b8c832773ebd9ed2b74741a9 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000032_y002770_z000100_t1_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the door labeled 311 and proceed to that room entrance.", + "Type": 1, + "Start_Pose": [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.108, + 2769.997, + 99.823, + 0.0, + 125.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 150.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + 175.12, + -0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -159.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 32.108, + 2769.997, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 43.34, + 2644.64, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 43.34, + 2644.64, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 106.498, + 2535.775, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 169.655, + 2426.91, + 99.522, + 0.0, + -59.88, + 0.0 + ], + [ + 206.146, + 2323.688, + 99.275, + 0.0, + -59.88, + 0.0 + ], + [ + 206.146, + 2323.688, + 99.275, + 0.0, + -59.88, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a curtain and a standing ashtray bin in a dim corner, with no doorway or room number anywhere in sight. To find the door labeled 311 I need to begin a scan, so I will turn right and keep rotating in that one consistent direction until useful corridor structure appears.", + "The rotation has swung the curtain to the left edge and brought a frosted panel and wood paneling into view, but still no room door or number plate. Since nothing here identifies a guest room, I will continue turning right to keep the scan moving in the same direction.", + "A tall wooden door and warmer corridor lighting are now appearing at the right edge past the frosted panel, which suggests a guest room hallway lies in that direction. The panel and cabinetry still block most of that view, so I will turn right again to open up the corridor and look for room numbers.", + "I can now see a guest room corridor with two wooden doors and key card readers, but no legible number plate on either of them yet. Turning right should carry my view further along the hallway where the numbering should become readable.", + "A plaque reading 309 is now visible on the wall beside the second door, confirming I am in the 300 range and that 311 should be nearby along this corridor. I will turn right once more to bring the far side of the hallway and its numbering into view.", + "The plaque for 311 has just come into view on the right wall of the corridor, opposite 309 on my left. I will turn right a bit more to place that side of the hallway and its door squarely ahead before I start walking.", + "The target is confirmed: the 311 plaque and its door sit ahead on the right side of the corridor, with a clear tiled and carpeted path in between. I will walk forward to close the distance toward that entrance.", + "Walking forward has brought me level with the 311 plaque, which now sits off to my right rather than ahead. I will turn right to face the door and its entrance alcove directly before advancing any closer.", + "The plate reading 311 is now clearly visible ahead on the right-hand wall beside its wooden door, and my heading points down that alcove. The tiled strip in front of me is clear of the luggage and cart on the carpet, so I will step forward to close the remaining distance to that door.", + "The 311 plate and its door now fill much more of my view, confirming I am moving straight toward the correct room. There is still a gap of open tiled floor before the doorway, so I will walk forward again to reach the entrance.", + "The door under the 311 plate is close, with its handle and card reader already distinguishable slightly right of center. One more short step should place me directly at the room entrance rather than a stride short of it.", + "I stand directly at the door of room 311, with its handle, lock reader, and hanger right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000079_y000862_z000100_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000079_y000862_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ec7f39486641663c0011826bda8621a544dedd7 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000079_y000862_z000100_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Search for room 308 along this hotel corridor; after locating it, head to its door.", + "Type": 1, + "Start_Pose": [ + 78.837, + 861.581, + 99.89, + 0.0, + -114.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 78.837, + 861.581, + 99.89, + 0.0, + -114.88, + 0.0 + ], + [ + 25.886, + 747.403, + 99.838, + 0.0, + -114.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -114.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -139.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -164.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -139.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -114.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + -114.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + -139.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + -164.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + 170.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 170.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 145.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 120.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 95.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 70.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 45.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + 20.12, + -0.0 + ], + [ + 11.013, + 503.192, + 99.838, + 0.0, + -4.88, + 0.0 + ], + [ + 136.416, + 492.485, + 99.275, + 0.0, + -4.88, + 0.0 + ], + [ + 206.101, + 492.483, + 99.275, + 0.0, + -4.88, + 0.0 + ], + [ + 206.101, + 492.483, + 99.275, + 0.0, + -4.88, + 0.0 + ] + ], + "Rationale": [ + "I am standing at the head of a carpeted hotel corridor with guest doors lining both sides, and the only number I can read from here is 307 on the right wall. Room 308 is not visible yet, so I will walk forward along the corridor to bring more door plates into readable range.", + "From this position I can now read 304 on the left door and 307 on the right, so the numbering here is in the 300s but neither side shows 308. The corridor continues past the luggage cart, so I will keep walking forward to check the next set of doors.", + "The nearest left-hand door reads 305, and the doors closer to me on that side are angled away so their plates are not legible from this heading. I will turn left to face that stretch of the left wall and try to read the numbers on those recessed doors.", + "Facing the left wall, I see a guest door with a red door hanger and another recessed door beside the 305 plate, but no 308 marking on this stretch. I will turn left again to square up on the nearest door and check whether it carries a readable number.", + "Squared up on this left-hand door, I see only blank wood paneling around it and no room plate at all, so turning further this way is not helping me identify the number. I will turn back to the right to recover a view of the corridor and continue the search along its length.", + "My earlier swing to the left only put me face to face with blank wood panelling and a door whose number plate stayed out of sight, so that look gave me nothing useful for finding 308. I am partway back toward the corridor axis now, with the luggage cart edge and the open runway of carpet returning on my right. One more turn to the right should square me with the corridor again so I can keep working along the numbered doors.", + "I am lined up with the corridor again, with door 305 on my left and the bell cart parked on the carpet ahead of me. Since the numbering here is still well below 308, standing still tells me nothing more, so I will walk further down the corridor to reach the next doors.", + "The bell cart with its suitcases now fills the middle of my view and crowds the carpet directly ahead, while a door alcove sits close on my left with only part of its number visible. Turning left should put that recessed doorway squarely in front of me so I can read its plate instead of pushing into the cart.", + "After turning I am looking mostly at flat wall panels, with the door frame still sitting off to the right of my view and no number plate readable from here. I will turn left again to bring that doorway more centrally into view and try to check whether it is one of the higher numbers.", + "The door face with its red do not disturb tag is right in front of me, but I am close enough that the number plate above the frame is cut off, so this look still does not confirm which room this is. I will keep turning left to shift the frame and its plate into a readable part of my view.", + "I am pressed up against an unmarked guest door with a red do-not-disturb tag, and the wall panels fill nearly the whole view, so I cannot read any room number or see the corridor from here. This is not room 308, and being this close leaves me no room to scan. I will step back to regain some distance and open up the view so I can pick a new direction to search.", + "Backing off has given me a clearer view of this recessed doorway, and the small plate above it still does not match room 308. The corridor opening lies off to my left beyond the projecting wall column, so I will turn left to swing my view away from this dead-end alcove and back toward the passage.", + "Turning has brought the corridor edge into view on my left, with the red carpet, wall lamp, and a framed picture appearing past the wooden column. The doorway on my right is still not the room I need, so I will continue turning left to bring the open hallway fully in front of me.", + "The corridor now stretches away to my left with an exit sign, plants, and seating at the far end, while the column still blocks the right half of my view. I will keep turning left in the same direction to line up with the length of the hallway and expose the door bays I have not yet checked.", + "I am now looking straight down the corridor, but the doors along it sit in recessed bays whose number plates face sideways and stay hidden from this head-on angle. I will continue turning left in the same sweep so the wall on the near side rotates into view and its room plates become readable.", + "Looking down this stretch of corridor I only see wall art, planters and the exit sign, with no room plaque legible from this heading. The recessed door alcoves sit off to my left, so I will keep rotating left in the same consistent direction to bring that numbered wall into sight. This should let me read the next room number instead of staring down empty hallway.", + "The plaque on the alcove wall to my left reads 308, so the room I was asked to find is right here. The door itself is still cut off at the edge of what I can see, so I will continue turning left to bring the whole doorway in front of me. Committing to this alcove now is better than scanning further down the corridor.", + "Room 308's door is now in sight with its number plaque on the wall beside it and a green hanger on the handle, but it still sits left of my heading. One more left rotation should square me up with the doorway so I can walk straight in. Aligning first avoids clipping the alcove corner on the way.", + "The door marked 308 is now centered directly ahead of me inside its alcove, with a service cart parked clear to my left. My heading is aligned, so I will step forward to close the remaining distance to that door. The gap beside the cart looks wide enough for a clean approach.", + "I am close to room 308's door now, with the card reader, handle and green hanger filling most of what I can see. A short further step should place me right at the door, within reach of the handle. That would put me in the standing position the task asks for.", + "I am standing directly at room 308's door, its handle, tag and card reader filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000079_y000862_z000100_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000079_y000862_z000100_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67e1e75e844f59274e7074f880ca9b787acead46 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000079_y000862_z000100_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Identify the door labeled 306 in the hallway, then proceed toward it.", + "Type": 1, + "Start_Pose": [ + 78.837, + 861.581, + 99.89, + 0, + -114.88, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 78.837, + 861.581, + 99.89, + 0, + -114.88, + 0 + ], + [ + 25.886, + 747.403, + 99.838, + 0.0, + -114.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -114.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -139.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -164.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -139.88, + 0.0 + ], + [ + -27.066, + 633.225, + 100.111, + 0.0, + -114.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + -114.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + -139.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + -164.88, + 0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + 170.12, + -0.0 + ], + [ + -80.017, + 519.047, + 99.838, + 0.0, + 170.12, + -0.0 + ], + [ + -191.043, + 540.345, + 99.275, + 0.0, + 170.12, + -0.0 + ], + [ + -191.043, + 540.345, + 99.275, + 0.0, + 170.12, + -0.0 + ] + ], + "Rationale": [ + "I am standing at the head of a carpeted hotel corridor with a numbered plate reading 307 on the wall to my right, so the 300-series rooms are along this stretch. Door 306 is not yet legible from here, so I will walk forward down the corridor to bring the next door plates close enough to read.", + "From this position I can read 307 on the right and a plate near 304 on the left, so the numbering is descending along the left side and 306 should sit in between. The plates are still small and partly hidden behind the luggage cart, so I will keep walking forward to close the distance on that left-hand row of doors.", + "I am now beside the luggage cart and can clearly read 305 on the door ahead on my left, which places 306 among the doors in this same left-hand recess. My heading still points down the corridor rather than at those doors, so I will turn left to bring the nearby left-side doors and their plates in front of me.", + "Facing into the left alcove I can see two wooden doors, one close on my left with a red door hanger and no number plate readable at this angle. I will turn left again to square up on that nearer door so any plate beside it can come into sight.", + "Turning further left has left me pressed almost flat against a single unlabeled door and a blank wood panel, with no number plate anywhere in sight, so this heading is not helping me identify 306. I will turn back to the right to recover the wider corridor heading where the numbered doors and their plates are visible again.", + "Facing this stretch of the left wall, the two doors in front of me show only handles and a card lock, with no room number plate visible at this angle, so this heading has not helped me identify 306. I will turn right again to bring my view back into line with the corridor, where the numbered doors and the door labeled 305 by the luggage cart are visible. That restored heading should let me keep working along the numbering instead of staring at a blank panel.", + "I am aligned with the corridor again and can read 305 on the door beside the luggage cart, which tells me the next room along this side should be 306. I will walk forward down the carpet runner to draw level with the doorway past 305. Getting closer should make the next door recess and its plate legible.", + "After stepping forward I am now beside the luggage cart, and its brass frame and suitcases crowd the right of my view while the numbered door recess sits along the wall to my left. I will turn left to face that wall directly, since the room numbers here run along this side and the door after 305 should be the one I want. Squaring up should give me a cleaner look at the doorway and its plate.", + "The turn has brought the wall panels into view but the doorway is still set off toward the middle right, and the cart frame still intrudes at the edge. I will keep turning left so the door recess moves toward the center of my view. Facing it more squarely should let me check whether this is the room I am looking for.", + "The door with its card reader and red do-not-disturb hanger now fills much of my view, but it still sits to the left of center with wall panelling taking up the right side. I will turn left once more to center myself on this doorway. Standing square to it should put its frame and any number plate where I can read them.", + "I am now squared up on a guest room door, but my view is filled with the panel and handle and no room number is readable at this height. Since the numbering plates in this corridor sit above the handles near the top of the door frame, I will tilt my gaze upward to bring the plate into view. That should let me confirm whether this is the door labeled 306 before committing to it.", + "With my gaze raised, the plate beside this door frame clearly reads 306, so the target is identified. The door is directly ahead of me with no obstruction between us, so I will step forward to close the remaining gap and stand at it.", + "I am standing right at the door identified as 306, its handle and card reader filling my view. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba04b967205ea59033263d1fe0d6b1b2c6ffcc1 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the gold-framed luggage cart in the hotel corridor; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -34.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -9.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 15.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 40.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 65.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + 26.699, + -150.683, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + -26.73, + -36.727, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + -80.159, + 77.228, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + -80.159, + 77.228, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + -65.503, + 188.196, + 99.965, + 0.0, + 90.12, + -0.0 + ], + [ + -65.503, + 188.196, + 99.965, + 0.0, + 90.12, + -0.0 + ] + ], + "Rationale": [ + "From where I stand the view is dominated by the paneled side wall and a fire extinguisher close on my left, with only a narrow slice of the red-carpeted corridor opening ahead. I see no gold-framed luggage cart anywhere in this framing, just an open guest room doorway and some glass panels on the floor. I will turn right to begin a steady scan of the corridor for the cart.", + "The turn has opened up the main corridor, showing guest room doors marked 301 and 303 and a long red runner leading away, but the gold-framed luggage cart is still not in sight. Only a low glass rack and a few small items sit on the floor here. I will keep rotating right in the same direction to extend the sweep.", + "The corridor has slid toward the left of my view and a tall wooden wall panel is now entering from the right, so this heading covers the same stretch of doors with nothing resembling a luggage cart. Only slippers and a small tray sit on the tiled edge near the doors. I continue the consistent rightward scan to check the section hidden behind that panel.", + "My view is now mostly close wall, with a gold-edged picture frame on the right and just a thin strip of corridor remaining at the far left. Nothing here is the luggage cart, and this blank wall gives me no useful information. I will keep turning right to sweep past it toward whatever lies on the other side.", + "The framed landscape painting now fills nearly the whole view, and its gold border belongs to a picture on the wall rather than to any luggage cart. I have no open floor or corridor depth to evaluate from this heading. I will continue the rightward rotation to clear this wall section.", + "I am still facing the wall panel with the painting cropped at the left and striped wallpaper filling the rest, so there is nothing searchable in this direction. Maintaining one consistent turn direction keeps the sweep systematic rather than doubling back over corridor I have already looked along. I will turn right again to bring open space back into view.", + "The painting has slipped to the far left and the wall corner is beginning to show at the right, hinting that the surface I have been facing is about to end. There is still no sign of the gold-framed luggage cart from this heading. I will keep turning right so the space beyond that corner comes into view.", + "Past the wall corner a lit corridor is opening at the right edge of my view, with a marble-topped stand in the foreground and a faint glint of metal further down that passage. This looks like the promising direction, since a luggage cart would plausibly be parked along such a corridor. I will turn right once more to bring that stretch fully in front of me.", + "As the wall edge clears, the corridor opens to my right and I can already catch a tall gold-framed luggage cart with brass posts at the far right of my view, plus another service trolley further down the hall. Since only part of that cart is inside my view, I will keep rotating right by one more step to bring it fully in front of me.", + "The gold-framed luggage cart is now clearly visible down the corridor ahead of me, standing on the red carpet with a red suitcase beside it. It still sits right of my heading, so I will turn right once more to line my body up with it before walking.", + "My heading now runs along the corridor with the gold-framed luggage cart standing clearly ahead of me beside the red suitcase. The floor between us is open carpet, so I will walk forward to close the distance to it.", + "The luggage cart has grown noticeably larger in front of me, its brass frame and loaded bags now easy to read, which confirms my previous step moved me toward it. I am still several paces short, so I will keep walking forward along the corridor.", + "The gold-framed cart with its green case, grey bag and red suitcase now fills a good part of my view just ahead and slightly left. One more forward step should bring me right up beside it.", + "I am now very close to the cart, but my heading has drifted toward the guest room doors on my right and the brass frame has slipped to the left edge of my view. I will turn left to put the luggage cart back in front of me before making a final step.", + "The turn recentered the gold-framed luggage cart directly ahead of me, with its green suitcase and grey bag plainly in front. I will take one short step forward to finish closing in on it.", + "The gold-framed luggage cart is directly in front of me, close enough that its brass posts fill my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c4b3b0620e381b588aab221746d328833e424bf --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Identify the red suitcase standing in the hallway, then proceed to where it sits.", + "Type": 1, + "Start_Pose": [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -34.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -9.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 15.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 40.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 65.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.81, + -152.003, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.81, + -152.003, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + 12.381, + -38.048, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + -41.048, + 75.908, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + -81.506, + 171.0, + 99.838, + 0.0, + 115.12, + -0.0 + ], + [ + -81.506, + 171.0, + 99.838, + 0.0, + 115.12, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot I am facing a wooden wall panel and a fire extinguisher that block most of the view, with only a narrow slice of the red carpeted hallway open to my right. No red suitcase is visible in this cramped field of view, so I will turn right to swing my heading into the open corridor and begin a consistent scan for it.", + "The corridor is now fully open ahead with numbered guest doors on both sides, luggage carts and a few small items on the floor, but nothing that reads as a red standing suitcase. Since this stretch is already accounted for, I will continue turning right in the same direction to bring the next section of the hallway into view.", + "This heading shows the corridor receding to the left with a luggage rack and small containers on the floor, still with no red suitcase standing anywhere along it. Keeping the same rotation direction, I will turn right again to sweep toward the unseen side of the hallway.", + "A tall wooden column and a framed picture on the near wall now fill most of my view and cut off the corridor, so this heading gives me almost no usable search area. I will turn right again to clear the wall surface and keep the scan moving toward open space.", + "I am now looking almost directly at the framed painting on the wall, with no corridor depth and no floor visible at all. Continuing the same rightward rotation should carry me past this blank wall section toward the hallway beyond it.", + "The view is still dominated by the painting and the plain textured wall, giving me no information about where the red suitcase might be. I will keep turning right in the same direction to finish crossing this wall and reach open hallway again.", + "The picture frame is sliding off to the left and only wall panelling remains ahead, so this heading is still unproductive for finding the suitcase. Another right turn should bring the edge of the wall past me and open the corridor on the far side.", + "The wall is finally giving way on the right, where I can see a marble stand, a guest door, and a sliver of a different corridor with what looks like a luggage trolley. That opening is the most promising unexplored direction, so I will turn right once more to bring that corridor properly into view.", + "My view has just cleared the wall corner and a long carpeted corridor now opens ahead to the right, with a luggage cart and service trolley down its length. No red suitcase is distinctly resolved yet from this angle, so I will keep turning right in the same consistent direction to bring that corridor fully into view.", + "The corridor is now centered and I can clearly see a red suitcase standing on the floor beside the brass luggage cart on the right side, matching the target described in the task. It is still far down the hall, so I will walk forward along the carpet to close that distance.", + "After advancing, the red suitcase sits ahead but noticeably right of my heading, next to the luggage cart along the right-hand wall. I will turn right to line my body up with it before continuing toward it.", + "The red suitcase and the brass cart are now roughly centered in my view, so my heading is aimed at the target. The remaining gap is still several strides of carpet, so I will step forward to close it.", + "The red suitcase and cart have grown noticeably larger and stay centered, confirming I am closing on the right target. I am still short of standing beside it, so I will continue walking forward.", + "The red suitcase now fills a large part of the right foreground beside the loaded bell cart, only a short step away. I will move forward once more to come level with it and finish the approach.", + "The red suitcase is directly beside me at arm's reach in the hallway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be9dc932de95e28100870c902380ea2385168a58 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for a blue suitcase loaded onto a luggage cart in the corridor, then head toward it.", + "Type": 1, + "Start_Pose": [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -34.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -9.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 15.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 40.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 65.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.81, + -152.003, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.547, + -26.144, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.283, + 99.714, + 99.912, + 0.0, + 90.12, + -0.0 + ], + [ + 65.283, + 99.714, + 99.912, + 0.0, + 115.12, + -0.0 + ], + [ + 11.854, + 213.67, + 99.912, + 0.0, + 115.12, + -0.0 + ], + [ + 11.854, + 213.67, + 99.912, + 0.0, + 140.12, + -0.0 + ], + [ + 11.854, + 213.67, + 99.912, + 0.0, + 140.12, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a wood panelled wall close on my left, a fire extinguisher, and a stretch of red carpeted corridor running away ahead with some housekeeping equipment near the doors. There is no luggage cart or blue suitcase anywhere in this narrow field of view, so I need to widen my search. I will turn right to begin a steady scan of the surrounding corridor.", + "The corridor is now open in front of me with guest room doors on both sides, but the only objects on the floor are a low glass framed trolley and scattered items, not a luggage cart with a blue suitcase. Nothing along this stretch matches the target, so a partial look is not enough. I will keep rotating right in the same direction to cover the next portion of the surroundings.", + "The corridor has slid toward the left of my view and I can see further down it past door 301, yet still no luggage cart carrying a blue suitcase. The right side of my view is being closed off by a wooden wall section, which tells me the unexplored space lies further around. Continuing the same rightward rotation should bring that unseen side into view.", + "Most of my view is now taken up by the near wooden column and a framed picture, with only a sliver of the corridor left at the edge. This surface tells me nothing about the target, so lingering here wastes the scan. I will turn right again to sweep past this blank wall toward whatever lies beyond it.", + "I am facing an interior wall with a framed landscape picture almost directly in front of me, which offers no information about a luggage cart. Reversing the scan now would only revisit the corridor I have already looked down. I will keep the rotation going to the right so the sweep stays consistent and clears this wall.", + "The picture frame and blank wall still fill everything I can see, so this heading gives me no chance of spotting the blue suitcase. The unscanned part of the floor must lie past the far edge of this wall. Another right turn should carry my view off the panel and toward open space.", + "The picture has shifted to my left and a vertical wooden edge is appearing on the right, which suggests the wall ends there and a passage opens beyond it. There is still no luggage cart or blue case in sight on this blank surface. I will turn right once more to bring that opening into view.", + "Past the wooden partition on my right I can now glimpse an opening with a pedestal urn, a fire alarm on the wall, and what looks like the frame and wheels of a trolley in the lit corridor beyond. That is a promising cue for the luggage cart I am looking for, but the partition still hides most of it. I will turn right again to expose that corridor branch and confirm what is standing there.", + "My continued rightward scan has opened up a long corridor, and near its right side I can already make out a brass luggage cart with bags on it plus a red case standing beside it. A pillar and a standing ashtray still crowd the left of my view, so I will turn right once more to put that corridor and the cart closer to the center of my heading.", + "The corridor now runs straight ahead of me with the loaded brass luggage cart on the right side, carrying what look like green and blue-grey cases. The scan has given me a target candidate, so instead of turning further I will walk forward along the carpet to close the distance and see the loaded bags more clearly.", + "The cart is noticeably larger now and I can distinguish a green case and a blue-grey case resting on it, with the red suitcase parked on the floor beside it. The path down the middle of the corridor is still open, so I will keep walking forward to bring the loaded blue bag into clearer view.", + "The blue-grey suitcase on the luggage cart is now clearly resolved just ahead on my right, near the door marked 306. Nothing blocks the corridor between me and it, so I will step forward again to close the remaining gap.", + "I am nearly level with the luggage cart, but it sits off to my right edge while my heading still points straight down the corridor. I will turn right to face the cart and its blue suitcase directly before advancing the last stretch.", + "The turn has brought the brass cart with the blue-grey suitcase into the center-right of my view, in front of room 306. A short step forward should bring me right up beside the loaded cart.", + "I am now standing right at the luggage cart, but its frame and the blue-grey case sit toward the right half of my view while I still face along the corridor. I will turn right so the loaded suitcase is squarely in front of me.", + "The blue-grey suitcase is loaded on the brass luggage cart directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c161083f4e42489320e9f02736b4d1a1bc63fe35 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000080_y-000265_z000100_t1_e/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Identify the upright room service cart positioned along the hallway, rather than the one tipped over on the floor, and proceed to it.", + "Type": 1, + "Start_Pose": [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 80.128, + -264.638, + 99.838, + 0.0, + -134.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -109.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -84.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -59.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -34.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + -9.88, + 0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 15.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 40.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 65.12, + -0.0 + ], + [ + 80.128, + -264.638, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.81, + -152.003, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.547, + -26.144, + 99.838, + 0.0, + 90.12, + -0.0 + ], + [ + 65.283, + 99.714, + 99.912, + 0.0, + 90.12, + -0.0 + ], + [ + 65.02, + 225.573, + 99.912, + 0.0, + 90.12, + -0.0 + ], + [ + 65.02, + 225.573, + 99.912, + 0.0, + 65.12, + -0.0 + ], + [ + 117.971, + 339.751, + 99.912, + 0.0, + 65.12, + -0.0 + ], + [ + 117.971, + 339.751, + 99.912, + 0.0, + 65.12, + -0.0 + ] + ], + "Rationale": [ + "From here I can see a collapsed metal cart frame lying on its side on the corridor floor ahead, which is the tipped over one I must ignore. No upright room service cart is visible in this narrow slice of hallway, so I will turn right to begin a steady scan of the surrounding corridor. Turning in one consistent direction should let me sweep the space without losing track of what I have already checked.", + "The wider hallway is now open in front of me, but the only cart I can make out is the toppled one lying near the left wall with debris around it. The corridor continues past guest room doors without any upright service cart standing along it, so I will keep rotating right to bring more of the hotel floor into view. Maintaining the same turn direction keeps the scan systematic.", + "The overturned cart has swung to the left edge of my view and the corridor ahead still shows only doors, a plant, and small items on the floor. Nothing upright and cart shaped appears in this direction, so continuing the rightward sweep is the efficient way to cover the unchecked side of the floor. I will turn right again.", + "My view is now dominated by a wood panelled column and wall on the right, with only a thin strip of the old corridor remaining on the left. There is no upright cart in this sliver, so the useful information lies further around to the right, past this wall. I will continue the same rightward rotation.", + "I am facing a blank stretch of wall with a framed picture, which gives me no information about carts at all. This is a dead zone of the scan rather than an obstacle, so the sensible move is to keep sweeping right until an open corridor comes back into view. I will turn right again.", + "The framed picture and wall panel now fill my entire view, so I am looking straight at a flat surface with nothing to evaluate. Continuing the same rightward rotation should carry my gaze past this wall and toward whatever corridor lies beyond it. I will turn right once more.", + "The picture edge has slid to the left and I can see the wall panel ending, which means the corner of this recess is close to passing out of view. There is still no upright cart in sight, so I will keep turning right to bring the space beyond this wall into my field of view.", + "Past the panelled wall on the right I can now glimpse a brighter corridor opening, and within that narrow gap there is what looks like the wheeled frame of a cart standing upright on the floor. That is a strong cue that the intact service cart is down this side of the hallway, so I will turn right again to bring the opening and the object fully into view.", + "The wall panel that was blocking my view has cleared, and off to my right the corridor opens up with a wheeled service cart standing upright on its castors near the far doors, plus a bell trolley and suitcase closer in. Since the promising cart sits to the right of my current heading, I will continue turning right by one more step to bring that stretch of hallway into the center of my view.", + "The hallway is now centered ahead of me, with an upright room service cart resting on its wheels along the left wall and a bell trolley with luggage on the right. That standing cart matches the target far better than anything toppled, so I will walk forward down the clear carpet runner to close the distance.", + "The upright service cart on the left is noticeably larger in view now, its frame and shelves clearly standing on four wheels rather than lying on the floor. The path down the middle of the corridor remains open, so I will keep walking forward toward it.", + "I can now make out trays, cups and bottles on the shelves of the upright cart parked beside the door on my left, confirming it as a room service cart. It is still several paces ahead, so I will continue walking forward along the corridor.", + "The upright service cart with its dishes and teapot is close on my left, near the door marked 308, and the corridor ahead of me is still clear. One more forward step should bring me level with the cart before I turn to face it.", + "I am now level with the upright room service cart, which sits to my left against the wall by room 308, while my heading still points down the empty corridor. I will turn left so the cart is squarely in front of me before making the final approach.", + "The upright room service cart, loaded with plates, cups and a teapot, is now directly ahead of me beside the door to 308. A short step forward should place me right at the cart, close enough to count as having reached it.", + "The upright service cart with its plates and cups stands directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000097_y-001845_z000102_t1_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000097_y-001845_z000102_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19a22f298a2348b8563818e3533234c4e40968ae --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000097_y-001845_z000102_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for a trash bin that has fallen over onto the corridor floor; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + 97.128, + -1844.856, + 101.733, + 0.0, + -154.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 97.128, + -1844.856, + 101.733, + 0.0, + -154.88, + 0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + -179.88, + 0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + 155.12, + -0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + 130.12, + -0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + 105.12, + -0.0 + ], + [ + 64.299, + -1723.354, + 101.826, + 0.0, + 105.12, + -0.0 + ], + [ + 31.47, + -1601.852, + 101.826, + 0.0, + 105.12, + -0.0 + ], + [ + 31.47, + -1601.852, + 101.826, + 0.0, + 80.12, + -0.0 + ], + [ + 28.663, + -1490.118, + 99.275, + 0.0, + 80.12, + -0.0 + ], + [ + 47.173, + -1366.323, + 99.838, + 0.0, + 80.12, + -0.0 + ], + [ + 68.769, + -1242.33, + 99.838, + 0.0, + 80.12, + -0.0 + ], + [ + 68.769, + -1242.33, + 99.838, + 0.0, + 80.12, + -0.0 + ], + [ + 68.769, + -1242.33, + 99.838, + 0.0, + 80.12, + -0.0 + ] + ], + "Rationale": [ + "From this elevator alcove I only see the lift doors, a call panel, and a seating area with a sofa, and no toppled trash bin lies on the floor here. The open lobby carpet extends to my left, so I will turn left to begin a consistent scan toward the unseen part of this floor.", + "The lobby now shows the sofa, the wall paintings, and an upright trash bin standing next to the elevator bank, which is not the fallen one I need. The floor ahead is clear carpet, so I will keep rotating left in the same direction to reveal more of the room and any corridor exits.", + "This side of the lobby shows a 3F floor sign, a potted plant, and blank wall panels, with nothing lying on the carpet. A corridor opening should be further around to my left, so I will continue the same leftward scan to look for the passage where a fallen bin could be.", + "A corridor now opens on my left under a green Exit sign, and far down that hallway I can make out a cylindrical object lying flat on the carpet. I will turn left once more to bring that corridor and the fallen object onto my heading.", + "I am now aligned with the corridor entrance, and the toppled metal bin is clearly visible lying on its side on the red carpet ahead. The path between the planters is open, so I will walk forward to close the distance toward it.", + "The fallen bin has grown larger in view and now sits ahead and slightly left along the corridor, confirming I am heading the right way. I will step forward again to keep closing on it.", + "The fallen bin lies noticeably left of my current heading, close to the left wall of the corridor, while my path is drifting toward the right side. I will turn left to line my heading up with the bin before advancing further.", + "After the turn the toppled bin sits closer to the center of my view down the corridor, so my heading is now pointed at it. The carpet between us is clear, so I will walk forward to reach its position.", + "The toppled trash bin is clearly visible lying on its side on the red carpet ahead of me, tipped over with its lid separated. It is still a few paces away along this corridor, so I will keep walking straight to close the gap. The path in front of me looks clear of obstructions.", + "The fallen bin now fills the lower left of my view, so my heading down the corridor is correct and the remaining distance is short. I will take one more step forward to bring myself right up beside it. That should place me at its position rather than just near it.", + "I appear to be standing right at the fallen bin, but at this eye level it has dropped out of the bottom of my view. I will tilt my gaze downward to confirm the overturned bin is directly at my feet.", + "The overturned trash bin lies directly at my feet in the corridor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000097_y-001845_z000102_t1_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000097_y-001845_z000102_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..585d2c9a9b01badbf0daf34a7d7216e038fd25c9 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000097_y-001845_z000102_t1_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Identify the overturned service cart lying on the ground in the hallway, then head toward it.", + "Type": 1, + "Start_Pose": [ + 97.128, + -1844.856, + 101.733, + 0.0, + -154.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 97.128, + -1844.856, + 101.733, + 0.0, + -154.88, + 0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + -179.88, + 0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + 155.12, + -0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + 130.12, + -0.0 + ], + [ + 97.128, + -1844.856, + 101.826, + 0.0, + 105.12, + -0.0 + ], + [ + 64.299, + -1723.354, + 101.826, + 0.0, + 105.12, + -0.0 + ], + [ + 31.47, + -1601.852, + 101.826, + 0.0, + 105.12, + -0.0 + ], + [ + -1.36, + -1480.35, + 99.385, + 0.0, + 105.12, + -0.0 + ], + [ + -34.189, + -1358.848, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -67.018, + -1237.346, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -98.014, + -1115.934, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -94.148, + -1015.726, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -85.601, + -1012.308, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -63.831, + -998.806, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -63.831, + -998.806, + 99.838, + 0.0, + 105.12, + -0.0 + ], + [ + -63.831, + -998.806, + 99.838, + 0.0, + 80.12, + -0.0 + ], + [ + 4.508, + -931.596, + 99.865, + 0.0, + 80.12, + -0.0 + ], + [ + 4.508, + -931.596, + 99.865, + 0.0, + 105.12, + -0.0 + ], + [ + 38.801, + -869.992, + 99.865, + 0.0, + 105.12, + -0.0 + ], + [ + 38.801, + -869.992, + 99.865, + 0.0, + 130.12, + -0.0 + ], + [ + 38.847, + -780.748, + 99.865, + 0.0, + 130.12, + -0.0 + ], + [ + 38.847, + -780.748, + 99.865, + 0.0, + 155.12, + -0.0 + ], + [ + 38.847, + -780.748, + 99.865, + 0.0, + -179.88, + 0.0 + ], + [ + 38.847, + -780.942, + 99.865, + 0.0, + -179.88, + 0.0 + ], + [ + 38.847, + -780.942, + 99.865, + 0.0, + -179.88, + 0.0 + ] + ], + "Rationale": [ + "I am standing in an elevator lobby facing a closed elevator door and a blank wall panel, with no overturned cart anywhere in this narrow view. The open lounge area with the sofa and carpet extends to my left, so I will turn left to begin a consistent scan for a corridor leading away from the elevators.", + "The lobby now opens onto a carpeted seating area with a sofa and side tables, but there is still no overturned cart or spilled items in sight. I will keep rotating in the same leftward direction to bring the rest of this floor's layout into view.", + "I can see a 3F floor sign and a potted plant along this wall, but the lounge in front of me contains no fallen cart. Continuing the same leftward scan should reveal whether a hallway leads off from this side of the lobby.", + "A lit Exit sign and a corridor opening now appear at the left, and far down that hallway I can make out a dark object lying on the carpet with pale items scattered around it. I will turn left once more to square my heading with that corridor so I can judge whether that clutter is the overturned cart.", + "The hallway is now centered in front of me, running past the potted plants and the Exit sign toward a distant lit area, and a toppled object with scattered pale pieces lies on the carpet partway down it. The floor ahead is clear, so I will walk forward along this corridor to close distance and confirm that object is the overturned service cart.", + "The corridor ahead runs straight past the potted plants, and further down the carpet I can make out loose objects and a pale shape lying on the floor that do not belong there. That scatter is the strongest cue for the overturned service cart, so I will keep walking straight along the hallway to close the distance and see it clearly.", + "A cylindrical object now lies on the red carpet to my left and more scattered items appear on the floor further down the corridor, which supports that something has spilled along this stretch. The path in front of me is still clear, so I will continue walking forward to reach that cluttered area.", + "The debris on the floor ahead is resolving into separate pieces spread across the tiles and carpet near the right-hand rooms, which looks like the contents of a toppled cart. The corridor remains unobstructed, so I will step forward again to get near enough to confirm the cart itself.", + "Ahead on the right I can now see a yellow panel and scattered white plates on the floor beside the wall, consistent with an overturned service cart rather than ordinary hallway clutter. I will keep advancing along the corridor to bring that spill fully into view.", + "The metal frame of a cart lying on its side is now visible ahead on the right, surrounded by dishes, cups and a tray strewn over the floor. That matches the overturned service cart I was sent to find, so I will keep walking toward it to close the remaining distance.", + "Down the corridor on my right I can now clearly see a service cart lying on its side against the wall near room 302, with plates, cups and a tray scattered across the floor around it. That matches the overturned cart I was sent to find, so I will keep walking straight along the hallway to close the remaining distance.", + "The overturned cart and the spill of dishes now fill the lower right of my view, so I am close but not yet beside it. I will step forward again to bring myself level with the wreckage rather than stopping short in the middle of the corridor.", + "My last step barely changed the view, since the cart and the scattered plates sit in almost the same place as before, which suggests something on this side is limiting my advance. I will try another forward step to see whether I can still gain ground toward the toppled cart.", + "I am now right beside the toppled cart, but its lower frame and the nearest plates and cups are cut off at the bottom edge of my view, so I cannot judge how the debris is spread across the floor in front of my feet. I will tilt my gaze downward to inspect the ground around the cart and see how much of the walkway is actually clear.", + "Looking down confirms the cart is right here on the floor, but the tray, bowls and cups are strewn straight across the narrow tiled strip ahead of me, which explains why my last forward steps gained so little ground. I will turn left toward the open carpeted lane of the hallway so I can move along a clearer line beside the wreckage instead of pushing into it.", + "The overturned service cart with its scattered plates and cups is lying at my lower right, close beside me but off to the side of my current heading. I will step forward along the open corridor so I come level with the alcove where the cart rests, which should give me room to swing around and face it directly.", + "Having advanced along the corridor, the overturned cart has slipped to the right edge of what I can see, with only its rails and a cup tray still showing. Turning right should bring the fallen cart back into the center of my heading so I can walk straight at it.", + "The toppled cart is now clearly in front of me and slightly to the right, resting on the tiled strip outside the guest room doors with dishes strewn around it. Nothing blocks the floor between us, so I will walk forward to close the remaining distance to it.", + "I am now beside the wreckage, and the overturned cart sits low at my right with the recessed door alcove behind it. I will turn right to square myself with that alcove so the fallen cart is centered in front of me rather than at the edge of my sight.", + "The overturned cart lies directly ahead of me now, tipped on its side with cups and a tray spilled across the tiles in front of the room entrance. I will step forward into that recess to bring myself right up to the fallen cart.", + "The overturned service cart with its red frame and metal rails now sits at the lower right edge of my view, while most of my heading is filled by the corridor wall and the open doorway of 302. I will turn right to bring the toppled cart and the scattered dishes around it back into the center of my view.", + "The overturned cart is now near the bottom center of my view, but it still sits low and slightly right, with the wall panelling taking up most of what lies ahead. I will turn right once more to square my heading on the fallen cart and the spilled tableware beside it before stepping in.", + "I am now facing the overturned cart directly, with its red body tipped onto the tiled floor at my left front and the scattered tray, cups and plates spread in front of door 301. I will step forward to close the last bit of distance and stand right at the fallen cart.", + "The overturned service cart lies directly before me with its spilled tray and cups at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b87e999be4ab6d2ebe9d7b2ef092b4e428131f9c --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the door marked 312.", + "Type": 0, + "Start_Pose": [ + 206.052, + 2229.221, + 99.275, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.052, + 2229.221, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 206.052, + 2229.221, + 99.275, + 0.0, + 96.92, + -0.0 + ], + [ + 190.888, + 2354.163, + 99.275, + 0.0, + 96.92, + -0.0 + ], + [ + 175.724, + 2479.105, + 99.275, + 0.0, + 96.92, + -0.0 + ], + [ + 175.724, + 2479.105, + 99.275, + 0.0, + 71.92, + -0.0 + ], + [ + 175.724, + 2479.105, + 99.275, + 0.0, + 46.92, + -0.0 + ], + [ + 206.146, + 2557.709, + 99.275, + 0.0, + 46.92, + -0.0 + ], + [ + 206.146, + 2557.709, + 99.275, + 0.0, + 21.92, + -0.0 + ], + [ + 206.146, + 2557.709, + 99.275, + 0.0, + 21.92, + -0.0 + ] + ], + "Rationale": [ + "From this spot I can read the plaque marked 312 on the wooden wall to my left, while my current heading points down the red carpet toward the curtained end of the corridor. I will turn left so that the recessed bay holding the 312 plaque and its door comes toward the center of my view before I advance.", + "The 312 plaque now sits ahead and slightly left of center, with clear tiled floor between me and that stretch of wall. I will walk forward to close the open distance toward the marked bay.", + "The 312 plaque has grown noticeably larger and the adjacent door leaf is now clearly visible on my left, so my previous step closed real distance. I will step forward again to bring myself level with that marked doorway.", + "I am now beside the wall panel carrying the 312 plaque, and the doorway itself lies off to my left while my heading still points at the curtained end wall. I will turn left to bring the marked door toward the center of my view.", + "The door with its lever handle and card reader is now visible on my left with the 312 plaque just right of it, but my heading is still offset from the door face. Another left turn should square me up with the marked door.", + "The 312 door is now centered ahead of me with its handle plainly in view, and only a short stretch of floor remains in the recess. I will step forward to close that last bit of distance to the door.", + "I am now right at the door, but my heading is slightly off so the wood panelling on the right side of the recess takes up part of my view. A small left turn should bring the door face and its handle squarely in front of me.", + "The lever handle and card reader of the 312 door are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d06c2df84dd6345b9b68ceadccfae29d413fc371 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the door marked 310.", + "Type": 0, + "Start_Pose": [ + 206.052, + 2229.221, + 99.275, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.052, + 2229.221, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 139.506, + 2336.048, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 72.96, + 2442.876, + 99.812, + 0.0, + 121.92, + -0.0 + ], + [ + 72.96, + 2442.876, + 99.812, + 0.0, + 146.92, + -0.0 + ], + [ + -32.498, + 2511.571, + 99.812, + 0.0, + 146.92, + -0.0 + ], + [ + -137.957, + 2580.266, + 99.349, + 0.0, + 146.92, + -0.0 + ], + [ + -191.117, + 2644.155, + 99.275, + 0.0, + 146.92, + -0.0 + ], + [ + -191.117, + 2644.155, + 99.275, + 0.0, + 171.92, + -0.0 + ], + [ + -191.117, + 2644.155, + 99.275, + 0.0, + 171.92, + -0.0 + ] + ], + "Rationale": [ + "From this end of the corridor I can read the plaque marked 310 on the right-hand wall beside a wooden door, further down past the runner carpet. The lane along the carpet ahead is clear, so I will move forward to begin closing that distance toward the marked door.", + "The 310 plaque and its door are noticeably larger now and sit on the right side of my view, so my heading is still carrying me usefully toward them. I will keep moving forward along the corridor to bring the door within a short reach before turning toward it.", + "I am now nearly level with the door marked 310, and it sits off to my right rather than in front of me while my heading points down the corridor. I will turn right to swing my facing onto the door so the remaining approach is a straight line.", + "The door with the 310 plaque now sits ahead of me in the right-center of my view with open floor tile between us. I will move forward to close that remaining gap toward the doorway.", + "The 310 plaque is large at the upper left and the door panel with its card reader now fills much of my view, so I am close but not yet at arm's length. One more forward step should place me directly at the door face.", + "The door leaf, its lever handle and the green hanger are right in front of me and the plaque has already passed out of the top of my view. I will edge forward once more to settle into a standing position at the door.", + "Standing this close, my view has drifted onto blank wood panelling and the frame corner, so the handle and lock are no longer in front of me. I will turn right to bring the door's lock face back into the center of my view.", + "The card reader and lever handle of door 310 are directly in front of me at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4317ce36fef13eb2c3a7ef24541d3893ecb34c42 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the trash bin near the curtain.", + "Type": 0, + "Start_Pose": [ + 206.052, + 2229.221, + 99.275, + 0.0, + 121.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.052, + 2229.221, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 139.506, + 2336.048, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 72.96, + 2442.876, + 99.812, + 0.0, + 121.92, + -0.0 + ], + [ + 6.414, + 2549.703, + 99.812, + 0.0, + 121.92, + -0.0 + ], + [ + 6.414, + 2549.703, + 99.812, + 0.0, + 96.92, + -0.0 + ], + [ + -8.75, + 2674.646, + 99.812, + 0.0, + 96.92, + -0.0 + ], + [ + -23.914, + 2799.588, + 99.812, + 0.0, + 96.92, + -0.0 + ], + [ + -23.914, + 2799.588, + 99.812, + 0.0, + 121.92, + -0.0 + ], + [ + -23.914, + 2799.588, + 99.812, + 0.0, + 121.92, + -0.0 + ] + ], + "Rationale": [ + "From this corridor I can see the draped window at the far end on the left side, with a small dark trash bin standing on the tile beside it. The runner carpet gives me a clear straight path in that direction, so I will move forward to begin closing the gap.", + "The curtain alcove has grown noticeably larger and the bin beside it is now clearer against the pale wall. Nothing blocks the runner in front of me, so another forward step should continue closing the distance.", + "The curtain now fills much of the left portion of my view and the metal trash bin in front of it is distinct. I am still several steps short of it, so I will keep moving forward along the open floor.", + "The curtained recess and the bin beside it have drifted to the left edge of my view while the paneled wall by door 310 dominates the center. A modest left turn should put the alcove and the bin squarely in front of me before I advance again.", + "With the turn done, the curtain now sits centered ahead and the trash bin stands just to its right on the tile. The short passage into the recess is clear, so I will move forward to close in on the bin.", + "The curtain fills nearly the whole view and the bin is close on my right, but I am still a step away from being right beside it. One more forward step should bring me within immediate reach of the bin.", + "I am now right at the curtain, and the trash bin has slipped to the far right edge of my view where I can barely see it. A small right turn should bring the bin back into the center of my view for a clean stop beside it.", + "The metal trash bin stands directly in front of me at arm's length against the curtain. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f8e0913320b6cc1e9fc824fda4781c1972df3fe --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Grab the candelabra near the door marked 312.", + "Type": 5, + "Start_Pose": [ + 206.052, + 2229.221, + 99.275, + 0, + 121.92, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 183.718, + 2640.709, + 14.662, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.052, + 2229.221, + 99.275, + 0, + 121.92, + 0 + ], + [ + 139.506, + 2336.048, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 139.506, + 2336.048, + 99.275, + 0.0, + 96.92, + -0.0 + ], + [ + 124.342, + 2460.991, + 99.59, + 0.0, + 96.92, + -0.0 + ], + [ + 124.342, + 2460.991, + 99.59, + 0.0, + 71.92, + -0.0 + ], + [ + 124.342, + 2460.991, + 99.59, + 0.0, + 71.92, + -0.0 + ], + [ + 124.342, + 2460.991, + 99.59, + 0.0, + 71.92, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 183.718, + 2640.709, + 14.662, + 0.0, + 0.0, + 0.0 + ], + [ + 183.718, + 2640.709, + 14.662, + 0.0, + 0.0, + 0.0 + ], + [ + 183.718, + 2640.709, + 14.662, + 0.0, + 0.0, + 0.0 + ], + [ + 183.718, + 2640.709, + 14.662, + 0.0, + 0.0, + 0.0 + ], + [ + 183.718, + 2640.709, + 14.662, + 0.0, + 0.0, + 0.0 + ], + [ + 104.701, + 2466.95, + 69.381, + -28.202, + 122.065, + 1.862 + ], + [ + 104.701, + 2466.95, + 69.381, + -28.202, + 122.065, + 1.862 + ] + ], + "PD_Dist_2D": [ + 412.1, + 307.9, + 307.9, + 189.3, + 189.3, + 20.5, + 20.5 + ], + "Rationale": [ + "The plaque marked 312 is on the left wall ahead, and the brass candelabra stands on the floor just below it, still far down the corridor. I will walk forward along the runner to close that distance before turning toward it.", + "After advancing, the candelabra and the 312 plaque have slid to the far left edge of my view, nearly out of sight. I will turn left to bring the target back into the center of my heading so I can continue straight toward it.", + "The turn has centered the 312 door and the candelabra standing on the tile in front of it. The candelabra is still several steps away, so I will walk forward to get within reach for grasping.", + "I am now close to the 312 doorway, but the candelabra sits at the lower left corner of my view rather than in front of me. I will turn left to square up on it so it falls within grasping range.", + "The candelabra now stands directly before me beside the door marked 312, close enough that its candles fill the lower part of my view. My hands are empty, so I will attempt to pick it up.", + "The candelabra is now held in my hands and no longer resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t5_b_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a2f5787aa82ce8fd84dd460cce0a9667c5f985c --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002229_z000099_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the wicker basket near the door marked 310.", + "Type": 5, + "Start_Pose": [ + 206.052, + 2229.221, + 99.275, + 0, + 121.92, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -202.283, + 2654.812, + 45.275, + 90, + 141.92, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.052, + 2229.221, + 99.275, + 0, + 121.92, + 0 + ], + [ + 139.506, + 2336.048, + 99.275, + 0.0, + 121.92, + -0.0 + ], + [ + 72.96, + 2442.876, + 99.812, + 0.0, + 121.92, + -0.0 + ], + [ + 6.414, + 2549.703, + 99.812, + 0.0, + 121.92, + -0.0 + ], + [ + 6.414, + 2549.703, + 99.812, + 0.0, + 146.92, + -0.0 + ], + [ + -99.044, + 2618.399, + 99.812, + 0.0, + 146.92, + -0.0 + ], + [ + -99.044, + 2618.399, + 99.812, + 0.0, + 146.919, + -0.0 + ], + [ + -99.044, + 2618.399, + 99.812, + 0.0, + 146.919, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -202.283, + 2654.812, + 45.275, + 90.0, + 141.92, + 0.0 + ], + [ + -202.283, + 2654.812, + 45.275, + 90.0, + 141.92, + 0.0 + ], + [ + -202.283, + 2654.812, + 45.275, + 90.0, + 141.92, + 0.0 + ], + [ + -202.283, + 2654.812, + 45.275, + 90.0, + 141.92, + 0.0 + ], + [ + -202.283, + 2654.812, + 45.275, + 90.0, + 141.92, + 0.0 + ], + [ + -202.283, + 2654.812, + 45.275, + 90.0, + 141.92, + 0.0 + ], + [ + -110.188, + 2600.173, + 69.945, + -28.202, + -162.936, + 1.862 + ], + [ + -110.188, + 2600.173, + 69.945, + -28.202, + -162.936, + 1.862 + ] + ], + "PD_Dist_2D": [ + 589.8, + 467.4, + 347.4, + 233.7, + 233.7, + 109.5, + 21.4, + 21.4 + ], + "Rationale": [ + "From the corridor entrance I can see the door marked 310 on the right side of the hall, with a round wicker basket leaning against the wall beside it. The basket is far down the corridor, so I will walk forward along the runner to close that distance before any grasp is possible.", + "The 310 plate and the wicker basket beside the doorway are now noticeably larger ahead of me, confirming I am on the correct line. Still, the basket remains well out of arm's reach, so I will keep walking forward down the corridor.", + "The wicker basket propped against the wall next to door 310 is clearly in view on my right, but I am still a few steps short of it. I will advance again to bring myself alongside the alcove where it sits.", + "I have drawn nearly level with the recess holding the basket, and it now sits at the right edge of my view while my heading points down the corridor past it. Turning right should bring the basket and the 310 door squarely in front of me for a clean approach.", + "The basket and the 310 door are now centered ahead of me after the turn, so my heading is right. It is still a stride away and too distant to grasp, so I will step forward to close in on it.", + "The wicker basket now fills the lower part of my view directly against the door frame, close enough that nothing separates me from it. I will attempt to pick it up, which should place the basket in my hands as the task requires.", + "The wicker basket is now held in my hands rather than resting by the door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4339e5689750e28e4177e0007fb9f1b22cec61cc --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the green suitcase, then move to the wooden door with green card.", + "Type": 3, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0, + -144.96, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0, + -144.96, + 0 + ], + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -144.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -169.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + 165.04, + -0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + 140.04, + -0.0 + ], + [ + -16.024, + 2485.724, + 99.68, + 0.0, + 140.04, + -0.0 + ], + [ + -112.494, + 2566.557, + 99.68, + 0.0, + 140.04, + -0.0 + ], + [ + -191.08, + 2646.842, + 99.275, + 0.0, + 140.04, + -0.0 + ], + [ + -191.08, + 2646.842, + 99.275, + 0.0, + 165.04, + -0.0 + ], + [ + -191.08, + 2646.842, + 99.275, + 0.0, + 165.04, + -0.0 + ] + ], + "Rationale": [ + "The green suitcase stands well off to my right, near the corridor that opens on that side, while I am currently squared to the wooden doors ahead. I will turn right to put the suitcase and the open floor leading to it in front of me before walking.", + "The green suitcase now sits ahead of me on the patterned carpet, with clear floor between us and the service cart offset to the left. I will walk forward to close that gap.", + "The suitcase has grown noticeably larger and sits just ahead and slightly right, but I am still a stride or two short of standing beside it. Another step forward should bring me right up to it.", + "The green suitcase is right at my side in the lower corner of my view, close enough to touch, so I am standing at it. I have reached the green suitcase. I mark reaching it and now set off for the wooden guest door carrying the green card.", + "I am facing straight down the long corridor, where only the far lobby and plants lie ahead, while the wooden guest doors are set back on my left. I will turn left to swing my heading toward those doors so I can look for the one with a green card.", + "The turn has brought one wooden door with its number plaque into view, but its handle carries no green card. I will keep rotating left to bring the neighbouring doors along this wall into sight.", + "Two wooden doors now face me, yet neither shows a green card at the handle, and the wall continues further to my left. I will turn left again to reveal the next doorway along this recess.", + "The door under the 310 plaque sits at the left of my view with a small green tag by its handle, but I am angled across it rather than facing it. I will turn left once more to square up with that doorway and its approach.", + "Ahead of me the recessed alcove holds a wooden door marked 310, and a small green card hangs from its handle. That matches the door I am heading for, so I will walk forward across the tiled bay to close the gap.", + "The wooden door now fills much of my view and the green card on its handle is clearly readable, confirming this is the door I want. I am still a couple of paces short of it, so I will step forward again.", + "I am close enough to see the card reader and the green hanger looped over the lever on the right side of the wooden door. One more short step should put me directly at the door instead of just short of it.", + "Standing this close, my gaze has run into the corner of the alcove wall and the door leaf is off to my right. Turning right should swing the green card and handle back into the center of my view.", + "The wooden door's handle with its green card hangs directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e37f735ccef25a8dff43ec41c3a72d3766f29c6a --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_d/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Navigate to the potted plant at the hallway end, then reach the green suitcase.", + "Type": 3, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 80.446, + 2404.891, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 16.817, + 2346.199, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 16.592, + 2346.036, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 62.736, + 2426.089, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 108.88, + 2506.142, + 99.68, + 0.0, + -119.96, + 0.0 + ], + [ + 108.88, + 2506.142, + 99.68, + 0.0, + -94.96, + 0.0 + ], + [ + 97.998, + 2380.754, + 99.68, + 0.0, + -94.96, + 0.0 + ], + [ + 130.42, + 2292.106, + 99.41, + 0.0, + -94.96, + 0.0 + ], + [ + 107.614, + 2187.543, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 96.732, + 2062.155, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 72.664, + 1949.005, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 57.445, + 1825.321, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 46.563, + 1699.933, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 35.681, + 1574.545, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 24.799, + 1449.158, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + 24.799, + 1449.158, + 99.838, + 0.0, + -119.96, + 0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + -119.96, + 0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + -119.96, + 0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + -144.96, + 0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + -169.96, + 0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + 165.04, + -0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + 140.04, + -0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + 115.04, + -0.0 + ], + [ + -38.054, + 1340.117, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.142, + 1465.975, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.23, + 1591.834, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.318, + 1717.693, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.405, + 1843.552, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.493, + 1969.411, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.581, + 2095.27, + 99.838, + 0.0, + 90.04, + -0.0 + ], + [ + -38.581, + 2095.27, + 99.838, + 0.0, + 65.04, + -0.0 + ], + [ + 14.53, + 2209.374, + 99.953, + 0.0, + 65.04, + -0.0 + ], + [ + 14.53, + 2209.374, + 99.953, + 0.0, + 65.04, + -0.0 + ] + ], + "Rationale": [ + "Facing the elevator lobby doors, the long carpeted corridor with its greenery at the far end opens away to my right, and the green suitcase stands on that same side. I will turn right so my heading follows the corridor toward the potted plant at its end.", + "The corridor now runs straight ahead of me, its red runner leading past the service cart and the green suitcase toward the plants standing far down the hall. The floor between me and them looks clear, so I will walk forward to close that distance.", + "The cart and the green suitcase have grown noticeably larger on my left and right, confirming the previous step carried me along the corridor. The greenery at the far end is still distant, so I will keep walking forward down the runner.", + "The loaded service cart now crowds close on my left and the suitcase is at my right shoulder, but the carpet ahead still runs clear toward the ferns marking the hallway end. I will step forward again to press through this narrowed stretch.", + "My last step gained less ground than the ones before it, and the cart's rail and dishes are pressed right across my path in the near foreground. The corridor beyond still leads to the plants at its end, so I will try another step forward to squeeze past.", + "My last step forward changed nothing; the view is unchanged and the service cart's rail sits right against me, so the cart is blocking this line. I will step back to pull clear of it and open room to reorient toward the corridor that runs to the distant plants.", + "Backing off has already put the cart wholly in front of me instead of pressed against me, but I am still boxed between it and the elevator alcove wall. One more step back should give me the clearance I need to swing onto the open carpet running down the hallway.", + "With space behind the cart regained, I can see the long carpeted corridor opening off to my right, with greenery far down its length. The cart still sits across my current heading, so I will turn right to take the clear lane instead of pushing into it again.", + "The turn has put the corridor straight ahead of me, with the cart pushed to my left edge and nothing blocking the carpet. Far down the hall I can make out tall potted greenery, so I will walk forward along this clear lane toward it.", + "That step carried me past the suitcase and the cart without resistance, so this route is genuinely open. The potted plants down the corridor are still small in view, so I will keep walking forward to close the remaining distance.", + "The corridor runs straight ahead with the red runner unobstructed, and I can pick out tall leafy planters standing further down where the passage opens out. Nothing blocks my line, so I walk forward again to close on that far end of the hallway.", + "The planters down the hall have grown noticeably larger, confirming my heading is taking me toward the end of this passage. A standing bin sits off to my right, clear of my line of travel, so I continue walking forward.", + "The green exit sign and the paired leafy plants ahead mark the wider area at the hallway's end, still some distance off. The runner in front of me is clear, so I keep walking straight toward it.", + "The corridor now widens into an open seating area, with sofas set back and green plants standing on either side of the passage. I am centered on the runner with room to pass between them, so I step forward again.", + "I have reached the open landing marked 3F, where two large potted ferns stand at the far side of the tiled floor. They are still several paces ahead of me, so I walk forward to bring myself right up to them.", + "The corridor opens into a wider landing where two tall leafy plants in round pots flank the carpet ahead, marking the end of this hallway. They are still several paces off, so I walk forward along the runner to close that gap.", + "The two potted plants have grown noticeably larger and now sit just ahead on either side of the runner. Nothing blocks the floor between us, so another step forward should bring me level with them at the hallway's end.", + "I am now level with the pair of potted plants, and the one I want stands to my left against the panelled wall while my heading still points straight down the far corridor. I turn left so that plant sits squarely in front of me rather than sliding past my shoulder.", + "The tall potted plant now stands centred ahead of me beside the wall corner, with open tiled floor in between. One step forward should put me right at its base.", + "The potted plant at the hallway's end towers directly in front of me, its fronds filling my view and its pot within arm's reach. I have arrived at it. I mark reaching this plant, then set off for the green suitcase back along the corridor.", + "The tall potted plant at the hallway end stands right beside me, so that destination is behind me now and the green suitcase is not anywhere in this dead-end view. It sat back near the guest room doors where I began, so I must swing my heading around. I pivot left to start turning away from this end wall.", + "The pivot has brought a closed door and blank panelled wall in front of me, with the plant now off to my right, so I am still facing the closed end of this space. No carpeted corridor has appeared yet. I continue turning left to keep swinging my heading back toward the hallway.", + "Now a pair of closed double doors fills my view and only the corner of a sofa shows at the left edge, so this heading offers no route back. The hallway I need must lie further around to my left. I keep pivoting left rather than committing to any movement yet.", + "The sofa and the floor sign have swung into the left half of my view while the double doors remain ahead, confirming I am still aimed at this closed lounge recess. The open hallway has not yet come into frame. Another left pivot should carry my heading further toward it.", + "The sofa now sits centred before me and a strip of the red patterned runner has just appeared at the far left edge, so the hallway is only slightly further around. The green suitcase lies somewhere back along that carpet. One more left pivot should bring the corridor axis in front of me.", + "Swinging away from the tall potted plant, the red-carpeted corridor now opens on my left, and far down it I can pick out an olive-green suitcase standing beside a service cart. My heading still points too far toward the sofa and the floor marker on the right. One more step of turning left should put that corridor and the suitcase straight ahead of me.", + "The corridor now runs straight ahead of me, with the olive-green suitcase and the service cart small in the distance under the far chandelier. Nothing blocks the carpet between here and there. I will walk forward along it to close the gap toward the suitcase.", + "The suitcase and cart at the end of this corridor have grown slightly larger, confirming my line of travel is right. The passage between the wood-panelled walls stays open. I will keep walking forward to shorten the remaining distance.", + "I am roughly halfway down the corridor, the bin and wall lamps sliding past on either side while the green suitcase sits ahead near the curtained end. It remains slightly left of center but well within the corridor I am following. Another stride forward should bring it noticeably closer.", + "The suitcase and the cart beside it now read clearly at the end of the hall, with the numbered guest doors coming into view around them. The floor ahead is still clear of obstacles. I will continue walking forward to close on the suitcase.", + "The green suitcase now stands clearly ahead on the left side of this corridor pocket, with the service cart beside it and open floor between us. Nothing blocks the strip of carpet in front of me, so I will keep walking straight to close the remaining gap.", + "The suitcase has grown noticeably larger and sits ahead to my left, while the cart occupies the right half of the passage. I still have a clear lane on the left, so another step forward should bring me almost level with the suitcase.", + "I am now beside the cart and the green suitcase has slipped to the far left edge of my view, nearly out of sight. Turning left should swing my heading onto it so I can approach it head on rather than drifting past.", + "The turn has brought the green suitcase back into the center-left of my view, standing on the carpet by the door marked 312. With a clear floor between us, I will step forward to close the last of the distance.", + "The green suitcase is directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bc909a8c6186068b21eb75ea87cffcdadc9f8d8b --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t3_e/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Move to the wooden door with red card, then approach the potted plant near the red fire extinguisher on the wall.", + "Type": 3, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + 103.106, + 2550.711, + 99.686, + 0.0, + -144.96, + 0.0 + ], + [ + 0.059, + 2478.449, + 99.686, + 0.0, + -144.96, + 0.0 + ], + [ + -102.989, + 2406.188, + 99.686, + 0.0, + -144.96, + 0.0 + ], + [ + -190.996, + 2337.241, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + -190.996, + 2337.241, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + -190.996, + 2337.241, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + -190.996, + 2337.241, + 99.275, + 0.0, + -94.96, + 0.0 + ], + [ + -190.996, + 2337.241, + 99.275, + 0.0, + -69.96, + 0.0 + ], + [ + -190.996, + 2337.241, + 99.275, + 0.0, + -44.96, + 0.0 + ], + [ + -173.188, + 2268.697, + 99.275, + 0.0, + -44.96, + 0.0 + ], + [ + -83.859, + 2185.848, + 99.649, + 0.0, + -44.96, + 0.0 + ], + [ + 5.199, + 2096.915, + 99.838, + 0.0, + -44.96, + 0.0 + ], + [ + 5.199, + 2096.915, + 99.838, + 0.0, + -69.96, + 0.0 + ], + [ + 5.199, + 2096.915, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + -5.683, + 1971.527, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + -16.565, + 1846.139, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + -27.446, + 1720.752, + 99.838, + 0.0, + -94.96, + 0.0 + ], + [ + -38.328, + 1595.364, + 100.027, + 0.0, + -94.96, + 0.0 + ], + [ + -49.21, + 1469.976, + 100.027, + 0.0, + -94.96, + 0.0 + ], + [ + -49.21, + 1469.976, + 100.027, + 0.0, + -119.96, + 0.0 + ], + [ + -112.063, + 1360.935, + 100.027, + 0.0, + -119.96, + 0.0 + ], + [ + -141.577, + 1339.703, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + -141.577, + 1339.703, + 99.275, + 0.0, + -94.96, + 0.0 + ], + [ + -141.577, + 1339.703, + 99.275, + 0.0, + -94.96, + 0.0 + ] + ], + "Rationale": [ + "Ahead on the left wall stands a wooden room door with a red card hanging at its lever handle, set back beyond the service cart. Nothing blocks the tiled strip in front of me, so I will walk forward to close the distance to that door.", + "The panelled door numbered 309 with the red card on its handle is now noticeably larger and more centered in front of me. The cart sits off to the right of my path, so I keep walking straight toward the door.", + "The wooden door with the red card tag now fills much of my view, though I am still a couple of paces short of standing at it. I will step forward again to bring myself right up to the doorway.", + "I am nearly at the door, with the lever handle, keycard reader, and the red card hanging beside them plainly in front of me. One more short step should put me directly at this door.", + "The wooden door is right in front of me, the red card swinging from its lever handle at arm's length. I have arrived at this door, so I mark reaching it and now set off for the potted plant standing beside the red fire extinguisher on the corridor wall.", + "With the door face filling my view at close range, I have no sight of the corridor I need to follow toward the potted plant by the fire extinguisher. I will turn right to swing my heading off the door and back out into the hallway.", + "My view still shows only the door edge and the adjoining wood panelling, with no open floor yet. I will keep turning right to bring the corridor and its far wall into sight.", + "The right side of my view has just opened onto the carpeted corridor, while panelling still blocks most of the frame. Another right turn should place that hallway centrally ahead so I can head along it toward the potted plant by the fire extinguisher.", + "The panelled wall of the door recess still fills the left of my view, and the carpeted corridor only shows past its edge on my right. One more turn to the right should bring that open hallway into the middle of my view so I can set off along it.", + "The corridor is now largely in front of me, with the service trolley close on the right and the carpeted run stretching off past the seating alcove. I will step forward to get clear of this recess and out onto the open hallway.", + "I have cleared the recess and the hallway runs unobstructed beside the panelled wall on my right, with a bin, a framed picture and greenery visible further down on the left. I keep walking forward along the carpet.", + "The wall lamp and the tall bin on the right are drawing level with me while the corridor continues open past the sofa and the leafy plant on the left. Another step forward should bring me nearer that far section of the hallway.", + "I am now right alongside the bin and the lit wall panel, and the corridor with its red runner has slipped away to my left. Turning left should swing my heading back down that hallway toward the greenery at its far end.", + "The long hallway is back in view with the exit sign and potted palms in the distance, but it still sits left of center behind the bin on my right. One more left turn should square me with the carpet runner before I walk it.", + "I am now aimed straight down the corridor, the carpet runner leading toward the potted palms and a small red extinguisher on the left wall far ahead. The lane is clear, so I walk forward to close that distance.", + "The palms flanking the corridor and the red extinguisher mounted on the left wall are noticeably nearer and my heading is still centered on them. I keep walking forward to reach that planting beside the extinguisher.", + "Down the open corridor ahead I can pick out a red fire extinguisher on the left wall with tall potted plants standing near it. That pairing matches the greenery I need to reach, so I keep walking straight along the carpet to close the remaining distance.", + "The extinguisher and the fern beside it have grown noticeably larger, confirming I am on the correct line toward them. Nothing blocks the carpet in front of me, so another step forward should bring the plant within a few paces.", + "The potted fern under the red extinguisher now stands clearly to my left front, but I am still short of it. I continue walking forward to draw level with that alcove before turning toward the plant.", + "I am now beside the alcove, with the red extinguisher and the large potted fern sitting off to my left rather than ahead. Walking straight would carry me past them, so I turn left to bring the plant into the centre of my view.", + "The turn has put the tall potted fern and the red extinguisher above it squarely in front of me across open tiled floor. With the heading right, I step forward to close the last of the gap to the plant.", + "The fern's fronds now fill much of my view and the extinguisher hangs just behind them, so I am close but not yet at the planter. One more short step forward should place me right beside it.", + "I am standing at the planter, but its trunk and the extinguisher have drifted to the right edge of my view while the empty wall takes the centre. A small turn to the right should square me up on the plant and the extinguisher above it.", + "The potted fern stands directly before me with the red fire extinguisher mounted on the wall just above it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t5_a_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..edcd68ede907adc97bf5d467ea4d7dd311588dd4 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t5_a_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Grab the metal bucket beside the green suitcase, then place it near the small framed painting.", + "Type": 5, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0, + -144.96, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -24.573, + 2369.206, + 19.838, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0, + -144.96, + 0 + ], + [ + 103.106, + 2550.711, + 99.686, + 0.0, + -144.96, + 0.0 + ], + [ + 0.059, + 2478.449, + 99.686, + 0.0, + -144.96, + 0.0 + ], + [ + 0.059, + 2478.449, + 99.686, + 0.0, + -144.959, + 0.0 + ], + [ + 0.059, + 2478.449, + 99.686, + 0.0, + -119.959, + 0.0 + ], + [ + 0.059, + 2478.449, + 99.686, + 0.0, + -94.959, + 0.0 + ], + [ + -9.372, + 2359.635, + 99.838, + 0.0, + -94.959, + 0.0 + ], + [ + 14.753, + 2347.796, + 99.838, + 0.0, + -94.959, + 0.0 + ], + [ + 16.5, + 2346.063, + 99.838, + 0.0, + -94.959, + 0.0 + ], + [ + 24.488, + 2438.117, + 99.838, + 0.0, + -94.959, + 0.0 + ], + [ + 32.476, + 2530.171, + 99.838, + 0.0, + -94.959, + 0.0 + ], + [ + 32.476, + 2530.171, + 99.838, + 0.0, + -69.959, + 0.0 + ], + [ + 75.606, + 2411.933, + 99.838, + 0.0, + -69.959, + 0.0 + ], + [ + 128.074, + 2300.348, + 99.479, + 0.0, + -69.959, + 0.0 + ], + [ + 128.074, + 2300.348, + 99.479, + 0.0, + -94.959, + 0.0 + ], + [ + 109.353, + 2194.837, + 99.838, + 0.0, + -94.959, + 0.0 + ], + [ + 109.353, + 2194.837, + 99.838, + 0.0, + -119.959, + 0.0 + ], + [ + 109.353, + 2194.837, + 99.838, + 0.0, + -144.959, + 0.0 + ], + [ + 6.307, + 2122.573, + 99.838, + 0.0, + -144.959, + 0.0 + ], + [ + -96.739, + 2050.31, + 99.838, + 0.0, + -144.959, + 0.0 + ], + [ + -37.79, + 2091.65, + 99.838, + 0.0, + -144.959, + 0.0 + ], + [ + -37.79, + 2091.65, + 99.838, + 0.0, + -144.959, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -24.573, + 2369.206, + 19.838, + 0.0, + 0.0, + 0.0 + ], + [ + -24.573, + 2369.206, + 19.838, + 0.0, + 0.0, + 0.0 + ], + [ + -24.573, + 2369.206, + 19.838, + 0.0, + 0.0, + 0.0 + ], + [ + 12.819, + 2461.316, + 69.945, + -28.202, + -94.815, + 1.862 + ], + [ + 19.698, + 2467.842, + 70.217, + -28.189, + -69.802, + 1.872 + ], + [ + 22.484, + 2476.35, + 69.55, + -28.215, + -44.832, + 1.849 + ], + [ + 11.94, + 2358.257, + 69.667, + -28.207, + -44.822, + 1.854 + ], + [ + 36.093, + 2346.649, + 70.137, + -28.191, + -44.807, + 1.869 + ], + [ + 37.853, + 2345.14, + 70.368, + -28.199, + -44.814, + 1.867 + ], + [ + 45.803, + 2436.797, + 69.747, + -28.212, + -44.828, + 1.853 + ], + [ + 53.773, + 2528.625, + 69.352, + -28.208, + -44.824, + 1.855 + ], + [ + 53.342, + 2538.629, + 70.578, + -28.189, + -19.808, + 1.873 + ], + [ + 95.368, + 2420.053, + 70.359, + -28.206, + -19.822, + 1.863 + ], + [ + 147.943, + 2308.195, + 69.269, + -28.206, + -19.822, + 1.852 + ], + [ + 148.418, + 2299.249, + 69.733, + -28.19, + -44.806, + 1.871 + ], + [ + 130.715, + 2193.974, + 69.984, + -28.191, + -44.812, + 1.872 + ], + [ + 127.414, + 2184.71, + 69.018, + -28.199, + -69.821, + 1.86 + ], + [ + 120.559, + 2178.919, + 69.768, + -28.206, + -94.82, + 1.865 + ], + [ + 19.023, + 2105.41, + 69.813, + -28.209, + -94.822, + 1.85 + ], + [ + -84.22, + 2033.008, + 69.39, + -28.198, + -94.807, + 1.864 + ], + [ + -95.102, + 2051.459, + 59.838, + 0.0, + -144.959, + 0.0 + ], + [ + -95.102, + 2051.459, + 59.838, + 0.0, + -144.959, + 0.0 + ] + ], + "PD_Dist_2D": [ + 343.0, + 221.9, + 112.0, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 20.4, + 21.4, + 20.7, + 19.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark metal bucket sits on the carpet ahead of me, just left of the green suitcase and beside the service cart. It is still well out of reach, so I will walk straight toward it to close the gap before attempting a grasp.", + "The bucket now fills the lower right of my view beside the cart, so I have gained ground but am still slightly short of a comfortable grasp position. I will step forward once more to bring it directly in front of me.", + "The cart and the bucket are right at my side, close enough that the bucket rim is within arm's reach. I will attempt to grab the metal bucket now so I can carry it toward the small framed painting.", + "The grab worked and the bucket is now held in my hands rather than resting on the carpet. Facing the guest room doors leaves me no route, so I will turn right to swing my heading toward the open corridor for transport.", + "With the bucket in hand, my heading has swung so the corridor opens on the right side past the cart. One more turn to the right should line me up with the hallway that leads toward the framed paintings.", + "The bucket is in my hands and my heading now runs down the open corridor instead of facing the guest room door. I will walk forward along this carpeted stretch to carry the bucket toward the framed pictures hanging further along the walls.", + "I have cleared the service trolley and the corridor still runs straight ahead with framed pictures on both side walls. Carrying the bucket, I will keep walking forward to reach a placement spot beside one of those small paintings.", + "My last step gained far less ground than the one before it, since the corridor view barely changed. The way ahead still looks open, so I will attempt another forward step to see whether I can continue advancing with the bucket.", + "That forward step produced almost no change in the scene, so something at this narrow point is holding me in place while I carry the bucket. I will step backward to open up clearance behind me instead of pressing into the same blocked spot.", + "Backing up worked, since the trolley and the green suitcase are visible again at the sides and the junction has widened around me. I will back up once more to gain enough room to reorient toward a passable route with the bucket.", + "The bucket is still in my hands, but my earlier straight push down the middle of this corridor gained almost nothing, so pressing the same heading again is pointless. From here the lane along the right-hand wall past the green suitcase looks clearer than the centre where the service cart sits. I turn right to take that line.", + "My heading now points along the right side of the hallway, with the suitcase and the 311 doorway ahead of me and clear floor between them. Since the centre route stalled, I step forward on this offset line to regain travel toward the far stretch of the corridor while still carrying the bucket.", + "The 311 door and its panelled recess are now close on my right and the floor ahead of me is still unobstructed, so this lane is moving me along unlike the earlier stalled push. I walk forward again to carry the bucket further down the hall before I need to correct my heading.", + "The wooden wall panelling now fills the right half of my view and my current heading runs straight into it, while the carpeted corridor continues open away to my left. I turn left to swing off this wall and put the long run of the hallway back in front of me.", + "The corridor now opens ahead of me along the red runner, with the planters and the far seating area in line and no obstruction in my path. I step forward to carry the bucket deeper into this stretch, where framed pictures hang along the walls.", + "The bucket is still in my hands, and the corridor ahead runs past the framed artwork mounted on the wall to my left. Continuing straight would carry me past the drop area, so I will turn left to bring that wall and its picture into the front of my view.", + "The small framed landscape now sits at the far left edge of my view rather than in front of me, so my heading is still off the placement spot. I will turn left again to center that painting and its wall section ahead of me while carrying the bucket.", + "The framed painting is now centered ahead on the wall panel, so my heading points at the intended placement area. I am still several paces back on the carpet, so I will walk forward to close that gap with the bucket in hand.", + "The painting and its wall lamp now fill much of my view, confirming I am heading straight at the right stretch of wall. I am still not close enough for the bucket to end up beside the picture, so I will step forward once more.", + "I am right up against the wall with the gilded frame edge just above me, so I am standing directly under the small framed painting. This is the intended placement spot, so I will release the bucket here and it should come to rest beside the picture.", + "The metal bucket now rests on the floor directly beneath the small framed painting, out of my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t5_b_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5a48676014467ca38449393a9dc62213560afc --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000206_y002623_z000099_t5_b_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Lift the trash bag at the metal serving cart, then drop it near the wooden door with the green card.", + "Type": 5, + "Start_Pose": [ + 206.153, + 2622.973, + 99.275, + 0, + -144.96, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 26.302, + 2369.955, + 9.811, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 206.153, + 2622.973, + 99.275, + 0, + -144.96, + 0 + ], + [ + 206.153, + 2622.973, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -119.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -144.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + -169.96, + 0.0 + ], + [ + 143.3, + 2513.932, + 99.275, + 0.0, + 165.04, + -0.0 + ], + [ + 21.706, + 2546.421, + 99.801, + 0.0, + 165.04, + -0.0 + ], + [ + -99.887, + 2578.91, + 99.801, + 0.0, + 165.04, + -0.0 + ], + [ + -190.973, + 2610.953, + 99.275, + 0.0, + 165.04, + -0.0 + ], + [ + -121.413, + 2592.367, + 99.275, + 0.0, + 165.04, + -0.0 + ], + [ + -121.413, + 2592.367, + 99.275, + 0.0, + 165.04, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 26.302, + 2369.955, + 9.811, + 0.0, + 0.0, + 0.0 + ], + [ + 26.302, + 2369.955, + 9.811, + 0.0, + 0.0, + 0.0 + ], + [ + 26.302, + 2369.955, + 9.811, + 0.0, + 0.0, + 0.0 + ], + [ + 162.105, + 2503.797, + 69.381, + -28.202, + -69.815, + 1.862 + ], + [ + 155.517, + 2497.581, + 69.654, + -28.189, + -94.803, + 1.872 + ], + [ + 146.663, + 2494.04, + 68.987, + -28.215, + -119.832, + 1.849 + ], + [ + 131.094, + 2489.276, + 69.168, + -14.175, + -152.767, + 6.959 + ], + [ + 16.898, + 2525.602, + 70.171, + -28.198, + -144.814, + 1.865 + ], + [ + -104.982, + 2558.165, + 69.633, + -28.191, + -144.801, + 1.871 + ], + [ + -196.095, + 2590.217, + 69.017, + -28.199, + -144.822, + 1.86 + ], + [ + -189.04, + 2610.437, + 59.275, + 0.0, + 165.04, + -0.0 + ], + [ + -189.04, + 2610.437, + 59.275, + 0.0, + 165.04, + -0.0 + ] + ], + "PD_Dist_2D": [ + 310.4, + 310.4, + 185.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The black trash bag sits on the carpet beside the metal serving cart, but both are offset toward the right side of my view and the corridor runs that way. I will turn right so the bag and cart line up ahead of me for a straight walk in.", + "The trash bag and the serving cart now sit ahead of me down the corridor, with clear open floor between us. I will walk forward to close that gap so the bag comes within grabbing range.", + "The trash bag is now directly in front of me at the foot of the metal serving cart, filling the lower part of my view. My hands are empty, so I will attempt to pick it up from here.", + "The grasp worked and the trash bag is now held with me rather than resting by the cart. The wooden guest doors lie back along the wall to my left, so I will turn left to bring the door bearing the green card into view.", + "Carrying the bag, I can see the paneled corridor and the serving cart, but the wooden door with the green card hanger is not yet framed ahead of me. I will turn left again to sweep further along the row of guest doors.", + "Two wooden doors are in view and the one on the left carries a green hanger on its handle, but it sits off to my left edge. One more left turn should place that green-card door straight in front of me for a direct approach with the bag.", + "The wooden door with the green hanger on its handle is now framed ahead of me across the tiled alcove. Still holding the trash bag, I will walk forward to bring myself near that door.", + "Room 310's door with the green card hanger is directly ahead, though I am still standing back in the alcove. I will step forward again to get close enough that setting the bag down would leave it right beside this door.", + "The wooden door with the green card hanger on its handle now fills my view, and I am still carrying the trash bag. I am close but not yet right at the doorway, so I will take one more short step forward to stand directly at the drop spot beside the handle.", + "I am now standing right against the wooden door, with the green card hanger and the lever handle immediately in front of me, and the trash bag is still in my hands. This is the intended release point, so I will drop the bag here and it should come to rest at the base of this door.", + "The trash bag now rests on the floor against the wooden door bearing the green card, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11bb8f93cddceeb0b442b21d7320dba6c0571417 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the lamp beside the teal sofa.", + "Type": 0, + "Start_Pose": [ + 215.256, + -1985.835, + 99.274, + 0.0, + 127.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 215.256, + -1985.835, + 99.274, + 0.0, + 127.68, + -0.0 + ], + [ + 138.325, + -1886.225, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + 138.325, + -1886.225, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + 26.504, + -1828.461, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -85.316, + -1770.697, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -197.136, + -1712.933, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -308.957, + -1655.169, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -420.777, + -1597.404, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -518.674, + -1534.151, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -518.674, + -1534.151, + 101.822, + 0.0, + 152.68, + -0.0 + ] + ], + "Rationale": [ + "From this corner of the wide red carpeted lobby I can already see the teal sofa against the far right wall, with a small side table and lamp glow beside it. The distance is large, so I will move forward across the open carpet to bring that seating area closer before refining my heading.", + "After closing some distance the teal sofa and its lit side lamp sit well off to my right, while my heading still points down the corridor ahead. I will turn right to place that sofa and lamp near the center of my view so the remaining approach can be a straight run.", + "The teal sofa now sits centered ahead with a table lamp at each end, so my heading matches the target. I will move forward over the clear carpet to reduce the still substantial gap.", + "The sofa and its flanking lamps have grown noticeably larger and remain straight ahead of me. I will continue forward, since no turn is needed and more distance still separates me from the lamp beside the sofa.", + "The seating area now fills much of my view, with the near lamp on the left side table becoming the obvious goal object. I will keep advancing along this heading to close the remaining gap toward that lamp.", + "The lamp on the side table at the near end of the teal sofa is now plainly in front of me, slightly right of center. I will move forward again to arrive within close range of it.", + "The lamp and its table are close now, with the sofa arm right beside them confirming this is the lamp beside the teal sofa. I will step forward once more to settle at a proper standing distance from it.", + "I am nearly at the side table, with the lamp large in view and the teal sofa cushion just to its right. I will make one short final advance so that I am standing right at the lamp beside the sofa.", + "The lamp on its side table fills my view at arm's length. The task is complete, so I stop here rather than crowd the wall." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t5_a_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..956cb47efbe9bf29eaa4de9899d332da3749c951 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Grab the plate near the potted fern near the 3F sign.", + "Type": 5, + "Start_Pose": [ + 215.256, + -1985.835, + 99.274, + 0, + 127.68, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -187.109, + -1597.212, + 51.781, + 90, + -30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 215.256, + -1985.835, + 99.274, + 0, + 127.68, + 0 + ], + [ + 138.325, + -1886.225, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + 61.393, + -1786.616, + 101.822, + 0.0, + 127.68, + -0.0 + ], + [ + 61.393, + -1786.616, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -50.427, + -1728.852, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -50.427, + -1728.852, + 101.822, + 0.0, + 152.68, + -0.0 + ], + [ + -50.427, + -1728.852, + 101.822, + 0.0, + 152.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -187.109, + -1597.212, + 51.781, + 90.0, + -30.0, + 0.0 + ], + [ + -187.109, + -1597.212, + 51.781, + 90.0, + -30.0, + 0.0 + ], + [ + -187.109, + -1597.212, + 51.781, + 90.0, + -30.0, + 0.0 + ], + [ + -187.109, + -1597.212, + 51.781, + 90.0, + -30.0, + 0.0 + ], + [ + -187.109, + -1597.212, + 51.781, + 90.0, + -30.0, + 0.0 + ], + [ + -59.686, + -1748.104, + 71.933, + -28.202, + -157.175, + 1.862 + ], + [ + -59.686, + -1748.104, + 71.933, + -28.202, + -157.175, + 1.862 + ] + ], + "PD_Dist_2D": [ + 559.4, + 435.2, + 312.5, + 312.5, + 189.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The pale plate is standing on the carpet ahead, beside the potted fern and just under the 3F sign on the wall, so I have already identified my target. It is far too distant to reach from here, so I will walk straight forward to close the gap.", + "The plate and the fern beneath the 3F sign now appear noticeably larger, confirming my heading is carrying me toward them. Still, the plate sits well out of arm's reach, so another step forward should continue shortening the distance.", + "I am close to the seating area, but the plate sits right of my current heading, drifting toward the edge of my view while the corridor stretches off to my left. A modest turn to the right should bring the plate and the fern under the 3F sign back into the center of my path.", + "The plate is now centered ahead of me with the fern and the 3F sign just behind it, so my heading is correct. It remains a few steps away, so I will advance to bring it within grasping range.", + "The plate now fills the near foreground directly in front of me, with the fern and the 3F sign right beside it, so this is the target the task named. I am close enough that a grasp should connect, so I will attempt to pick it up.", + "The plate is now held in my hands rather than resting on the carpet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t5_b_p/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8add452839a6cfda568d169e6d5564861929b7 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000215_y-001986_z000099_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the jerry can from beside the teal sofa under the cityscape triptych.", + "Type": 5, + "Start_Pose": [ + 215.256, + -1985.835, + 99.274, + 0, + 127.68, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -428.521, + -1690.499, + 15.719, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 215.256, + -1985.835, + 99.274, + 0, + 127.68, + 0 + ], + [ + 215.256, + -1985.835, + 99.275, + 0.0, + 152.68, + -0.0 + ], + [ + 112.016, + -1921.501, + 101.703, + 0.0, + 152.68, + -0.0 + ], + [ + 0.195, + -1863.736, + 101.703, + 0.0, + 152.68, + -0.0 + ], + [ + -111.625, + -1805.972, + 101.703, + 0.0, + 152.68, + -0.0 + ], + [ + -223.445, + -1748.208, + 101.703, + 0.0, + 152.68, + -0.0 + ], + [ + -335.266, + -1690.444, + 101.703, + 0.0, + 152.68, + -0.0 + ], + [ + -335.266, + -1690.444, + 101.703, + 0.0, + 152.68, + -0.0 + ], + [ + -335.266, + -1690.444, + 101.703, + 0.0, + 152.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -428.521, + -1690.499, + 15.719, + 0.0, + 0.0, + 0.0 + ], + [ + -344.524, + -1709.696, + 71.933, + -28.202, + -157.175, + 1.862 + ], + [ + -344.524, + -1709.696, + 71.933, + -28.202, + -157.175, + 1.862 + ] + ], + "PD_Dist_2D": [ + 708.3, + 708.3, + 587.8, + 462.4, + 337.3, + 213.0, + 93.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The teal sofa under the cityscape triptych sits far to the right side of this lobby, well off my current heading. I will turn right to bring that seating alcove toward the center of my view so I can walk straight at it.", + "The sofa beneath the cityscape triptych is now roughly ahead of me across the patterned carpet, with open floor in between. I will walk forward to close the long gap toward that seating area.", + "The sofa alcove has grown noticeably larger and I can now make out a reddish container standing on the carpet beside the sofa. I will keep walking forward to get near enough to identify and reach that object.", + "The red jerry can beside the teal sofa is clearly recognizable now, directly along my heading. It is still several strides away, so I will continue walking forward toward it.", + "The jerry can now stands out plainly at the foot of the teal sofa, but it remains beyond arm's reach. I will step forward again to shorten the distance before attempting a grasp.", + "The jerry can is large in front of me at the sofa's near edge, yet still a step short of a comfortable grasp. I will advance once more to stand right over it.", + "I am standing right at the sofa's near end where the jerry can sits on the carpet, close enough that it falls just below my forward view. I will attempt the pick now, which should place the can in my hands.", + "The red jerry can is now held in my hands rather than resting on the carpet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..682b94d88a3e7f16e3cbbded15da98ee43ce24fe --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the blue sofa, then head toward the elevator door.", + "Type": 3, + "Start_Pose": [ + 275.479, + -1576.727, + 101.826, + 0.0, + -164.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 275.479, + -1576.727, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + 163.735, + -1620.892, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + 42.655, + -1655.245, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -78.425, + -1689.599, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -199.504, + -1723.952, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -320.584, + -1758.306, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -441.664, + -1792.659, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -441.664, + -1792.659, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -352.773, + -1767.438, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -352.773, + -1767.438, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + -352.773, + -1767.438, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + -352.773, + -1767.438, + 101.826, + 0.0, + -89.16, + 0.0 + ], + [ + -352.773, + -1767.438, + 101.826, + 0.0, + -64.16, + 0.0 + ], + [ + -297.916, + -1880.713, + 101.826, + 0.0, + -64.16, + 0.0 + ], + [ + -297.916, + -1880.713, + 101.826, + 0.0, + -39.16, + 0.0 + ], + [ + -198.042, + -1954.354, + 99.275, + 0.0, + -39.16, + 0.0 + ], + [ + -198.042, + -1954.354, + 99.275, + 0.0, + -39.16, + 0.0 + ] + ], + "Rationale": [ + "The blue sofa sits ahead against the far wall under the framed city panels, straight down the patterned red carpet. Nothing blocks that lane, so I will walk forward to begin closing the gap to it.", + "The sofa and its two side tables have grown larger and stay centered in my view, confirming my heading is good. I will keep walking straight to shorten the remaining distance.", + "The sofa now dominates the wall ahead with the lamps on either side clearly separated, so I am still well aligned on it. Another step forward should bring me closer without any turn.", + "The cushions and the wooden side tables are now distinct and the carpet edge is drawing near the sofa's feet. I will continue straight ahead to keep closing on it.", + "The sofa fills much of my view now, slightly left of center, and the carpet ends just short of it. A further step forward should place me right at the seat.", + "I am close enough to see the fabric weave on the cushions and the lamp on the side table beside me. One more step forward should bring me right up against the blue sofa.", + "The blue sofa's arm and cushions are directly in front of me, with the lamp table at its side within reach. I have arrived at the blue sofa. I mark reaching it and now turn my attention to the elevator doors across the lobby.", + "Standing this close, the sofa and its side table crowd my view and leave me no room to swing around toward the elevator doors. I will step back to open enough space to reorient and set off across the lobby.", + "I am standing at the blue sofa with its cushions and the side lamp filling my view, so nothing more is needed here. The elevators sit back across the lobby to my right, so I will turn right to begin swinging my heading off this wall and toward them.", + "The sofa has slid to my left edge and I am now looking at blank panelled wall with the waste bin at the right. No elevator is in view yet, so I will keep turning right to bring the elevator bank around into my heading.", + "My view is still filled by the striped wall, the standing ashtray bin and a small alarm box, with the lamp table slipping off to my left. The elevator doors must lie further round to the right, so I will continue turning right to find them.", + "The polished metal of an elevator door and its floor indicator have just appeared at the right edge of my view, behind the projecting pillar. One more turn to the right should bring that door into the centre of my heading so I can walk straight at it.", + "The elevator doors are now squarely ahead of me, with a second set further along the wall to the right and the carpet edge at my feet. With a clear stretch of tiled floor in front, I will walk forward to close the gap to the door.", + "I am close enough that the door leaves and the stone jamb fill most of my view, but a pale wall crowds my left and I am angled into the recess rather than facing the doors. A turn to the right should square me up with the door face.", + "The elevator doors now run along my left with the corridor and lobby opening to the right, so I am beside the bank rather than standing at a door. A short step forward should place me directly at the door face.", + "The elevator door is directly in front of me, its brushed panel filling my view at arm's length. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be5b35ad388edd8512afc7034c97ea914339608d --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t3_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Move to the small table beside the trash bin, then reach the elevator call buttons.", + "Type": 3, + "Start_Pose": [ + 275.479, + -1576.727, + 101.826, + 0.0, + -164.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 275.479, + -1576.727, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + 163.735, + -1620.892, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + 42.655, + -1655.245, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -78.425, + -1689.599, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -199.504, + -1723.952, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -320.584, + -1758.306, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -441.664, + -1792.659, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -495.961, + -1828.895, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -495.961, + -1828.895, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -89.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -64.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -39.16, + 0.0 + ], + [ + -407.07, + -1803.674, + 101.826, + 0.0, + -14.16, + 0.0 + ], + [ + -285.035, + -1834.463, + 101.826, + 0.0, + -14.16, + 0.0 + ], + [ + -163.0, + -1865.252, + 101.826, + 0.0, + -14.16, + 0.0 + ], + [ + -163.0, + -1865.252, + 101.826, + 0.0, + -39.16, + 0.0 + ], + [ + -66.649, + -1926.128, + 101.826, + 0.0, + -39.16, + 0.0 + ], + [ + -66.649, + -1926.128, + 101.826, + 0.0, + -39.16, + 0.0 + ] + ], + "Rationale": [ + "From this end of the carpeted lobby I can see the sofa alcove far ahead, flanked by two lamp tables, with the tall trash bin standing just to their right. The small table I want sits beside that bin, so I will walk straight ahead to close the gap.", + "The seating alcove and the trash bin beside it have grown noticeably larger, so my straight heading is carrying me correctly across the carpet. Nothing blocks the open floor between us, and another stride forward should keep shrinking the distance to the small table.", + "The alcove now fills the middle of my view, with the lamp table on the right side of the sofa sitting next to the trash bin. My heading already points into that corner, so continuing forward is the direct way in.", + "I am close enough now to see the marble tops of the side tables and the trash bin standing just past the right one. The carpet edge still lies between me and them, so I keep walking forward toward that table.", + "The sofa and the right-hand lamp table now dominate my view, close but not yet within reach. A further step forward should bring me right up beside that small table near the bin.", + "The gold lamp and its marble table are only a short distance ahead on my right, with the sofa arm beside them. I am nearly at the spot, so I take another step forward rather than turning.", + "The lamp table now sits at close range, its marble top and the sofa arm filling the lower half of my view. One short step more should put me directly beside it.", + "The marble side table with its gold lamp stands right at my side, at the corner of the seating alcove next to the trash bin. I have arrived at the small table. I mark reaching it before setting off for the elevator call buttons.", + "I am right up against the small side table with its lamp, the corner wall almost touching me, far too tight to swing my body around. I will step back to open up clearance before turning away toward the elevator bank.", + "With a little clearance opened behind me, the sofa and lamp table still occupy everything in front, while the elevators lie somewhere off to my right past the panelled corner. I will turn right to start swinging my heading around toward them.", + "Only the corner table and blank wall panels lie in front of me, so my heading is still well short of the elevators. Another rightward turn should carry my facing further around toward that side of the lobby.", + "The panelled wall still fills my forward direction, but the tall trash bin at the corner has come around into sight on my right. Turning right again should bring the elevator recesses beyond that bin around in front of me.", + "The trash bin now stands squarely in front of me against the panelled wall, with the red fire alarm box beside it, and still no elevator doors in sight. I keep rotating right, expecting the elevator bank to come around just past this stretch of wall.", + "A brushed metal elevator door with its lit floor indicator has come around on my right, so my heading is nearly onto the bank. One more turn right should set the doors and the passage beside them properly in front of me.", + "The elevator doors and the tiled walkway running past them now lie ahead and slightly to my left, so I am close to being lined up with that passage. A last turn right should straighten me along it before I walk down toward the call panels.", + "The walkway along the elevator bank now runs straight ahead of me, with the doors and their wall panels on my left. I will walk forward down this stretch to close the distance to the call buttons.", + "The elevator bank runs along my left, and I can make out a small call panel mounted on the near pillar. I am still short of it, so I will keep walking straight down the corridor to close that gap before turning in.", + "I am now level with the pillar carrying the lit floor indicator and its two round call buttons, which sit off to my left rather than in front of me. Turning left should swing my heading onto that panel so I can step straight up to it.", + "The button panel with its glowing floor number is now ahead of me on the pillar face, but still a stride or two away. Walking forward should bring me right up against it, close enough for the buttons to be within reach.", + "The elevator call buttons and floor indicator fill my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t5_a_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f9dbec8121c87db02cc3956f1b6f8ef4f2851286 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the ceramic vase at the blue sofa, then set it down near the elevator door.", + "Type": 5, + "Start_Pose": [ + 275.479, + -1576.727, + 101.826, + 0, + -164.16, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -371.011, + -1652.774, + 31.826, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 275.479, + -1576.727, + 101.826, + 0, + -164.16, + 0 + ], + [ + 163.735, + -1620.892, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + 42.655, + -1655.245, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -78.425, + -1689.599, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -78.425, + -1689.599, + 101.826, + 0.0, + 170.84, + -0.0 + ], + [ + -202.679, + -1669.563, + 101.826, + 0.0, + 170.84, + -0.0 + ], + [ + -202.679, + -1669.563, + 101.826, + 0.0, + 170.84, + -0.0 + ], + [ + -202.679, + -1669.563, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -202.679, + -1669.563, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + -202.679, + -1669.563, + 101.826, + 0.0, + -114.16, + 0.0 + ], + [ + -202.679, + -1669.563, + 101.826, + 0.0, + -89.16, + 0.0 + ], + [ + -200.833, + -1795.409, + 101.826, + 0.0, + -89.16, + 0.0 + ], + [ + -198.988, + -1921.254, + 101.826, + 0.0, + -89.16, + 0.0 + ], + [ + -200.044, + -1849.262, + 101.826, + 0.0, + -89.16, + 0.0 + ], + [ + -200.044, + -1849.262, + 101.826, + 0.0, + -89.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -371.011, + -1652.774, + 31.826, + 0.0, + 0.0, + 0.0 + ], + [ + -371.011, + -1652.774, + 31.826, + 0.0, + 0.0, + 0.0 + ], + [ + -371.011, + -1652.774, + 31.826, + 0.0, + 0.0, + 0.0 + ], + [ + -371.011, + -1652.774, + 31.826, + 0.0, + 0.0, + 0.0 + ], + [ + -371.011, + -1652.774, + 31.826, + 0.0, + 0.0, + 0.0 + ], + [ + -371.011, + -1652.774, + 31.826, + 0.0, + 0.0, + 0.0 + ], + [ + -205.475, + -1690.742, + 71.933, + -28.202, + -139.015, + 1.862 + ], + [ + -195.995, + -1690.86, + 72.206, + -28.189, + -114.003, + 1.872 + ], + [ + -188.065, + -1686.703, + 71.538, + -28.215, + -89.033, + 1.849 + ], + [ + -180.698, + -1685.415, + 71.592, + -14.092, + -71.816, + 6.87 + ], + [ + -181.221, + -1668.812, + 71.608, + -28.208, + -39.018, + 1.851 + ], + [ + -179.486, + -1794.397, + 72.03, + -28.189, + -39.002, + 1.869 + ], + [ + -177.655, + -1919.967, + 72.412, + -28.205, + -39.025, + 1.859 + ], + [ + -199.018, + -1919.255, + 41.826, + 0.0, + -89.16, + 0.0 + ], + [ + -199.018, + -1919.255, + 41.826, + 0.0, + -89.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 650.9, + 535.7, + 413.7, + 294.9, + 294.9, + 169.2, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The blue sofa sits far across the lobby carpet with the pale ceramic vase standing in front of it. Nothing blocks the open floor between us, so I walk straight ahead to close that distance before any grasp is possible.", + "The sofa and the slim ceramic vase in front of it now appear noticeably larger, confirming my heading leads to the target. I am still several paces away, so I continue walking forward along the same line.", + "The seating alcove now fills much of my view and the vase stands clearly on the carpet before the sofa. It remains too far for an interaction, so I take another step forward across the open carpet.", + "The vase sits left of my center of view while my heading points at the middle of the sofa. I turn left to place the vase squarely ahead so a straight step will bring me right up to it.", + "The vase now stands near the center of my view with the sofa directly behind it. It is still a stride or so away, so I step forward to bring it within reach for picking up.", + "The tall ceramic vase is now immediately in front of me, close enough that it dominates the near view against the sofa. My hands are empty and nothing stands between us, so I attempt the grasp now.", + "The grasp worked, and the ceramic vase is now carried in my hands rather than resting on the carpet. The elevator lies behind me on the far side of the lobby, so I begin turning right to swing my heading back toward it.", + "I still face the sofa and its artwork wall, with only the corner and waste bin edging into view on the right. The elevator is not yet in sight, so I keep rotating right to bring that side of the lobby in front of me.", + "The vase is in my hands and my view has swung past the sofa to the plain wall and waste bin, but the elevator bay is still further to my right. I will turn right again to bring the elevator doors into view before walking over. This keeps my heading rotating toward the drop-off side of the lobby.", + "The elevator doors have come into view but sit off to the right side of my field of view, so I am not squared up with them yet. I will turn right once more to center the doors ahead of me. With the vase still in hand, a straight heading makes the short walk over simple.", + "The elevator doors are now centered directly ahead across the tiled strip, with the carpet edge between me and them. Carrying the vase, I will walk forward to close that gap toward the door.", + "The elevator doors now fill most of my view, so I am close but likely still short of a comfortable placement spot beside the threshold. I will step forward once more to stand right at the door before setting the vase down.", + "I am standing right against the elevator doors, with the polished panels immediately in front of me and no clearance left to advance. This is the intended spot near the elevator door, so I will release the vase here and expect it to settle on the floor beside the threshold.", + "The ceramic vase now stands on the floor directly at the elevator door, no longer in my hands. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t5_b_pd/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4366b7a871f4b29ac7af2ce1b447ceea06efb331 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000275_y-001577_z000102_t5_b_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Grab the tomato beside the elevator call buttons, then place it near the trash bin.", + "Type": 5, + "Start_Pose": [ + 275.479, + -1576.727, + 101.826, + 0, + -164.16, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 19.393, + -1830.728, + 65.826, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 275.479, + -1576.727, + 101.826, + 0, + -164.16, + 0 + ], + [ + 275.479, + -1576.727, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 180.262, + -1659.032, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 85.045, + -1741.338, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 85.045, + -1741.338, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 85.045, + -1741.338, + 101.826, + 0.0, + -139.16, + 0.0 + ], + [ + 85.045, + -1741.338, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -36.035, + -1775.692, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -157.115, + -1810.047, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -278.194, + -1844.401, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -208.928, + -1824.748, + 101.826, + 0.0, + -164.16, + 0.0 + ], + [ + -208.928, + -1824.748, + 101.826, + 0.0, + -164.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 19.393, + -1830.728, + 65.826, + 0.0, + 0.0, + 0.0 + ], + [ + 19.393, + -1830.728, + 65.826, + 0.0, + 0.0, + 0.0 + ], + [ + 19.393, + -1830.728, + 65.826, + 0.0, + 0.0, + 0.0 + ], + [ + 19.393, + -1830.728, + 65.826, + 0.0, + 0.0, + 0.0 + ], + [ + 19.393, + -1830.728, + 65.826, + 0.0, + 0.0, + 0.0 + ], + [ + 99.471, + -1757.094, + 71.933, + -28.202, + -89.015, + 1.862 + ], + [ + 91.205, + -1760.797, + 72.206, + -28.189, + -114.003, + 1.872 + ], + [ + -29.227, + -1795.959, + 72.516, + -28.193, + -114.011, + 1.872 + ], + [ + -150.35, + -1830.323, + 72.514, + -28.198, + -114.01, + 1.868 + ], + [ + -271.67, + -1864.75, + 72.151, + -28.196, + -114.013, + 1.865 + ], + [ + -276.27, + -1843.855, + 116.826, + 0.0, + -164.16, + 0.0 + ], + [ + -276.27, + -1843.855, + 116.826, + 0.0, + -164.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 360.7, + 360.7, + 235.3, + 110.9, + 110.9, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the patterned carpet well to the right of my heading, close to the elevator doors and their call panel. I will turn right so that it lines up ahead of me before I start walking. That should give me a straight approach lane toward it.", + "The tomato now sits near the middle of my view with the elevator bank and its call panel just beyond it, so my heading is good. It is still several strides away across the carpet with nothing blocking the path. I will step forward to close that distance.", + "The tomato has grown noticeably larger and stays low and centered in front of me, confirming my line is still correct. It remains beyond arm's reach, so a grab now would likely fall short. I will walk forward again to get close enough to reach it.", + "I am standing right beside the elevator doors and the call panel, but my forward gaze shows mostly wall and ceiling with the tomato dropped out of the lower edge. To grab it I need it framed clearly in front of me. I will look down to bring it into view.", + "The tomato now fills the lower part of my view just in front of my feet, well within reach on the carpet beside the elevator threshold. Nothing else is close enough to be grabbed by mistake. I will attempt the pick and expect the tomato to end up in my hands.", + "The grasp worked and the tomato is now held in my hands rather than resting on the carpet. The trash bin I need belongs to the seating area with the sofa and lamps, which lies off to my left from this elevator-facing pose. I will turn left to face that side of the lobby.", + "Facing the lounge now, I can see the sofa, the wall pictures, and the slim metal trash bin standing near the seating area ahead of me. Carrying the tomato, I am still far from that bin. I will walk forward along the open carpet to close in on it.", + "The trash bin is larger and clearly framed near the center right of my view, with the sofa and lamp beside it. I am closer but not yet near enough to set the tomato down beside it. I will step forward again to reach a sensible release spot.", + "The tomato is still in my hands and the tall metal trash bin now stands ahead against the right wall, though a stretch of tile still separates us. I will step forward once more to close that remaining gap so the bin is within easy dropping range.", + "I am now right beside the trash bin, which stands just to my right at arm's length with clear floor beneath it. Since the tomato is still in my hands and this is the requested placement spot, I will release it here so it should come to rest near the bin.", + "The tomato now rests on the floor right beside the trash bin and my hands are empty. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_a/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e752f3508cd1247c998fcc103c2d9fc7fadffbc --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Approach the rightmost potted fern.", + "Type": 2, + "Start_Pose": [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 252.381, + 1454.113, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 252.381, + 1454.113, + 99.275, + 0.0, + -123.8, + 0.0 + ], + [ + 182.366, + 1349.526, + 99.275, + 0.0, + -123.8, + 0.0 + ], + [ + 182.366, + 1349.526, + 99.275, + 0.0, + -98.8, + 0.0 + ], + [ + 182.366, + 1349.526, + 99.275, + 0.0, + -98.8, + 0.0 + ] + ], + "Rationale": [ + "Two potted ferns stand along this lobby wall, and the one farthest right is the tall fern beside the pale blue armchair at the edge of my view, so that armchair marks my target. It is still far off across the tiled floor. I will walk forward to close the gap.", + "The fern beside the armchair now sits at the far right edge of my view while my heading points down the corridor past the elevator doors. Turning right should bring that fern nearer the center of my view so I can walk straight at it.", + "The tall fern beside the armchair is now within my forward view, with the armchair confirming it as the one I chose. It is still several paces away across the carpet runner. I will step forward to close that remaining distance.", + "I am close enough now that the fern's fronds fill the right portion of my view, with its pot low at the right edge. A small turn to the right should square me up on that plant instead of the corridor stretching ahead.", + "The tall fern beside the pale blue armchair stands directly before me, its pot within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_b/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6793631dbeb0e2a1a77a87ecb2e4834d729c0ffa --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the leftmost potted fern near the center.", + "Type": 2, + "Start_Pose": [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 252.381, + 1454.113, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 144.725, + 1388.914, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 37.07, + 1323.716, + 99.761, + 0.0, + -148.8, + 0.0 + ], + [ + -47.303, + 1266.89, + 99.572, + 0.0, + -148.8, + 0.0 + ], + [ + -47.303, + 1266.89, + 99.572, + 0.0, + -148.8, + 0.0 + ] + ], + "Rationale": [ + "Two ferns stand in this middle stretch of the lobby, and the left one of that pair is mine: the slender palm in the dark banded pot set against the wooden pillar with the red fire extinguisher above it. It sits well ahead down the corridor, so I will walk straight forward to close that distance.", + "The fern in the dark banded pot at the base of the pillar is noticeably larger in my view now, so my heading down the corridor is good. It is still several paces off, so I will keep walking straight ahead.", + "The potted fern against the pillar now fills a good part of the frame slightly right of center, with its fronds spreading toward me. I am not yet beside it, so another step straight forward should bring me to it.", + "The fern now towers directly in front of me, its pot resting on the tile a short stride away. One more short step forward should place me right at it.", + "The fern's fronds fill my view at arm's length beside the wooden pillar. I have arrived at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab83c366846fdfddd46a8fbf5e00d0f603a6a5a --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the blue sofa on the far left.", + "Type": 2, + "Start_Pose": [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 360.036, + 1519.311, + 99.275, + 0.0, + -173.8, + 0.0 + ], + [ + 234.913, + 1505.718, + 99.275, + 0.0, + -173.8, + 0.0 + ], + [ + 109.79, + 1492.126, + 99.838, + 0.0, + -173.8, + 0.0 + ], + [ + -15.333, + 1478.533, + 99.838, + 0.0, + -173.8, + 0.0 + ], + [ + -15.333, + 1478.533, + 99.838, + 0.0, + 161.2, + -0.0 + ], + [ + -133.334, + 1518.054, + 99.498, + 0.0, + 161.2, + -0.0 + ], + [ + -133.334, + 1518.054, + 99.498, + 0.0, + 161.2, + -0.0 + ] + ], + "Rationale": [ + "Two blue sofas sit in this lobby, one cut off at my left edge and one close on my right, so the far-left one is my target, the piece set against the pale wall near the wooden double doors. It lies well outside my forward view, so I will turn left to bring it in front of me.", + "The blue sofa by the pale wall now sits ahead and slightly left, beside the wooden double doors at the end of this corridor. It is still far off across the patterned carpet, so I will walk forward to close the distance.", + "The sofa has grown noticeably larger on my left, its cushions now clearly readable against the wood panelling. There is still clear floor between us, so I will keep walking straight ahead toward it.", + "The blue sofa now fills much of my left side, with the double doors squarely ahead of me. A short stretch of open floor remains before I am level with it, so I will step forward again.", + "I am nearly abreast of the blue sofa, but it sits off to my left while my heading points at the doors. I will turn left so the sofa is in front of me before covering the last bit of ground.", + "The blue sofa now lies ahead and slightly left with its cushions and armrest clearly in front of me under the floor sign. A last short gap of tile separates us, so I will step forward to stand right at it.", + "The blue sofa is directly in front of me, filling the near view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24e8797c89d91e211bd99d547a9dd0143cfadd63 --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to the trash bin on the left.", + "Type": 2, + "Start_Pose": [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 252.381, + 1454.113, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 144.725, + 1388.914, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 37.07, + 1323.716, + 99.761, + 0.0, + -148.8, + 0.0 + ], + [ + -47.303, + 1266.89, + 99.572, + 0.0, + -148.8, + 0.0 + ], + [ + -47.303, + 1266.89, + 99.572, + 0.0, + -173.8, + 0.0 + ], + [ + -57.487, + 1290.813, + 99.213, + 0.0, + -173.8, + 0.0 + ], + [ + -112.199, + 1329.435, + 99.838, + 0.0, + -173.8, + 0.0 + ], + [ + -112.199, + 1329.435, + 99.838, + 0.0, + -148.8, + 0.0 + ], + [ + -198.458, + 1320.644, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + -307.627, + 1268.996, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + -307.627, + 1268.996, + 99.275, + 0.0, + -123.8, + 0.0 + ], + [ + -376.716, + 1188.585, + 99.275, + 0.0, + -123.8, + 0.0 + ], + [ + -376.716, + 1188.585, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + -376.716, + 1188.585, + 99.275, + 0.0, + -148.8, + 0.0 + ] + ], + "Rationale": [ + "Two identical dark bins flank this lobby, and the left one is the slim cylinder standing against the pale wall beside the wooden double doors, while the other sits by the tall potted palm on the right. That bin is my goal, so I will walk forward along the carpet to close the long gap.", + "The double doors and the slim bin tucked against the wall beside them have grown noticeably larger ahead of me. The floor between us is still clear, so I keep walking forward to shorten the distance.", + "My target bin sits on the left near the doorway frame, while another bin now stands further right past the pillar and painting. I am still well short of the alcove, so I continue stepping forward.", + "The potted palm and its pillar now fill the middle of my view, but the bin I want is still clearly to their left, beside the doors. Walking straight ahead should carry me past the planter and closer to that corner.", + "The palm fronds are now right in front of me and crowd my heading, while the bin I am after shows through the gap on the left near the doors. Turning left should swing my heading off the planter and onto the open floor leading to it.", + "The turn cleared my line of travel, and the double doors with the bin beside them now sit ahead in open tiled space. I step forward into that alcove.", + "The doors and the slim bin beside them are visibly nearer and the floor between us stays clear. Another step forward should bring me further into the alcove where the bin stands.", + "I am close now, but the bin sits off to the right of my heading while the doors take the center of my view. I will turn right to put the bin in front of me before advancing again.", + "The turn worked: the slim bin now stands clear against the wooden corner panel just left of my heading, with open tile between us. A few paces still separate us, so I walk forward to close them.", + "The bin sits ahead in the recess where the panelled corner meets the wall, and its ashtray top is already distinct. I am still short of arm's reach, so another step forward should bring me up to it.", + "The bin now fills much of my view and the panelled corner behind it is nearly at my face. Turning right swings my heading off that corner and onto the open floor beside the bin, so a final step can bring me level with it rather than into the wall.", + "With my heading now clear of the corner, the bin sits low on my left and the tile beside it is open. I step forward to draw fully alongside it.", + "That step carried me right up against the wall, and the bin has slipped out of view past my left shoulder. I turn left to bring it back in front of me and confirm I am standing at it.", + "The bin's marble ashtray rim is right beside me at arm's length in the panelled corner. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7c5d42d9b88bab3546149698be56279827e46cb --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000360_y001519_z000099_t2_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the trash bin on the right.", + "Type": 2, + "Start_Pose": [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 360.036, + 1519.311, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 252.381, + 1454.113, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 144.725, + 1388.914, + 99.275, + 0.0, + -148.8, + 0.0 + ], + [ + 144.725, + 1388.914, + 99.275, + 0.0, + -123.8, + 0.0 + ], + [ + 70.06, + 1299.78, + 99.838, + 0.0, + -123.8, + 0.0 + ], + [ + -4.592, + 1201.026, + 99.838, + 0.0, + -123.8, + 0.0 + ], + [ + -54.526, + 1099.413, + 99.838, + 0.0, + -123.8, + 0.0 + ], + [ + -97.419, + 995.842, + 99.838, + 0.0, + -123.8, + 0.0 + ], + [ + -98.426, + 937.323, + 99.838, + 0.0, + -123.8, + 0.0 + ], + [ + -98.426, + 937.323, + 99.838, + 0.0, + -123.8, + 0.0 + ] + ], + "Rationale": [ + "Two similar metal bins stand in this lobby, one tucked beside the pale double doors on the left and one on the right of the carpeted walkway, under the framed painting; the right one is my target and I will keep following that bin by the painting. It is still far ahead, so I step forward to close distance.", + "The bin beneath the framed painting is now clearly on the right side of the red carpet, larger than before but still several paces off. The floor between us is open, so I keep walking straight ahead.", + "From here the bin under the framed painting sits well off to my right, and my heading points at the pillar and the elevator doors instead. A modest turn to the right should put that bin and the corridor beside it in front of me before I continue.", + "The turn opened the carpeted corridor ahead, and the bin under the framed painting now lies along my path on the right. More bins line the walls further down, but I am staying with the one beside that painting, so I walk forward.", + "The bin beneath the framed bridge painting is closer and squarely on my right side of the corridor. Nothing blocks the carpet ahead, so I keep advancing toward it.", + "The painting is now beside me and its bin stands just ahead on the right, close enough to show its rounded lid. A few more paces should bring me level with it, so I continue forward.", + "The bin below the painting is only a short step ahead on my right, filling much of that side of the view. I move forward again to draw level with it.", + "The bin's marble top is right beside me at close range on my right. One small step forward should place me properly alongside it rather than just short of it.", + "The bin's marble top sits at my side within arm's reach, so I am standing at it. The task is complete and no further movement is needed." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_c/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28118d313dc4e55f76e7bde5f752c7bc0ed83f8c --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the framed bridge painting on the left wall.", + "Type": 2, + "Start_Pose": [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + [ + 489.992, + -1883.469, + 101.826, + 0.0, + 124.76, + -0.0 + ], + [ + 418.235, + -1780.07, + 101.826, + 0.0, + 124.76, + -0.0 + ], + [ + 346.477, + -1676.671, + 101.826, + 0.0, + 124.76, + -0.0 + ], + [ + 346.477, + -1676.671, + 101.826, + 0.0, + 99.76, + -0.0 + ], + [ + 325.142, + -1552.633, + 101.826, + 0.0, + 99.76, + -0.0 + ], + [ + 325.142, + -1552.633, + 101.826, + 0.0, + 99.76, + -0.0 + ] + ], + "Rationale": [ + "The framed painting of the bridge hangs on the pale wall far to my left, while my body faces down the open carpeted hall. I will turn left so that wall and its painting come into the centre of my heading before I start walking.", + "The bridge painting now sits ahead of me on the left-hand wall, with clear carpet and no furniture between us. I will walk forward to close the distance toward it.", + "The bridge painting has grown noticeably larger and its gold moulding is now clearly readable, so my heading is carrying me toward it. The floor ahead is still open, so I will keep walking to shorten the remaining gap.", + "I am close to the wall now, but the bridge painting has drifted off to my left edge as I advanced along the corridor. I will turn left to square up with it before taking the last step in.", + "The bridge painting now sits centred in front of me with its wooden wall panels on either side, and only a short stretch of tiled floor remains. One more step forward should bring me right up to it.", + "The gilded lower edge of the bridge painting is directly before me, close enough to touch. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_d/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d52653fddc2c6849daaaad0ff060d74ba339084e --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_d/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Move to the second potted fern from the left.", + "Type": 2, + "Start_Pose": [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + [ + 381.259, + -1820.083, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 272.527, + -1756.698, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 163.794, + -1693.312, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + 55.062, + -1629.927, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + -53.671, + -1566.541, + 101.826, + 0.0, + 149.76, + -0.0 + ], + [ + -53.671, + -1566.541, + 101.826, + 0.0, + 149.76, + -0.0 + ] + ], + "Rationale": [ + "Two potted ferns stand along the left side of this lobby: the large one close to me on the far left, and beyond it a smaller fern set against the wooden column, which is my target. Both are well ahead down the corridor, so I will walk forward.", + "The fern by the wooden column is larger in my view now, so my heading is carrying me toward it. Nothing blocks the open carpet between us, so I keep walking forward.", + "The big near fern has drifted to the very edge of my view on the left, so I hold onto the fern standing against the wooden column as the one I am walking to. It still sits some distance down the corridor, so I continue forward.", + "The fern against the wooden column now fills a good part of my left-forward view, its dark round planter clearly visible on the tiled strip. I am still a few paces short of standing beside it, so I keep advancing.", + "The fern beside the wooden column is close on my left, its planter almost level with me. One more step forward should bring me right up alongside it.", + "The fern by the wooden column now stands directly beside me, filling my near left view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_e/infos.json b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..313b862d857913045471ce38764349b9b8837bff --- /dev/null +++ b/dataset/trajectory/Hotel_Corridor/task_x000490_y-001883_z000102_t2_e/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Reach the table lamp on the sofa's right side.", + "Type": 2, + "Start_Pose": [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 489.992, + -1883.469, + 101.827, + 0.0, + 149.76, + -0.0 + ], + [ + 489.992, + -1883.469, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + 364.659, + -1871.975, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + 239.326, + -1860.48, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + 113.993, + -1848.986, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -11.34, + -1837.491, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -136.673, + -1825.997, + 101.826, + 0.0, + 174.76, + -0.0 + ], + [ + -136.673, + -1825.997, + 101.826, + 0.0, + -160.24, + 0.0 + ], + [ + -255.121, + -1868.547, + 101.826, + 0.0, + -160.24, + 0.0 + ], + [ + -364.07, + -1902.641, + 101.827, + 0.0, + -160.24, + 0.0 + ], + [ + -455.074, + -1902.752, + 101.827, + 0.0, + -160.24, + 0.0 + ], + [ + -455.074, + -1902.752, + 101.827, + 0.0, + -160.24, + 0.0 + ] + ], + "Rationale": [ + "Across the lobby I can see the grey sofa with a matching lamp on a side table at each end, and the one I want stands at the sofa's right end, beside the tall metal bin near the elevators. That alcove lies to the right of my current heading, so I turn right to bring it in front of me before walking.", + "The sofa alcove now sits ahead of me down the corridor, with the lamp at the sofa's right end still small and distant. The carpeted floor between us is clear, so I walk forward to close that distance.", + "The sofa and its two lit lamps have grown slightly larger, confirming my heading leads straight into the alcove. I keep walking forward toward the lamp standing at the sofa's right end.", + "The elevator bank passes on my right while the alcove with the sofa stays squarely ahead. I am still several strides short of the side table holding my lamp, so I advance again.", + "Both side tables and their lamps are clearly resolved now, the right-hand one next to the tall metal bin. I continue forward to reach comfortable range before I refine my heading.", + "The sofa fills much of my view and the carpet edge in front of it is close, but I am still standing off toward the middle of the alcove. One more step forward should bring me near enough to swing toward the lamp at the sofa's right end.", + "I am now facing the middle of the sofa, with one lamp at each end and the metal bin marking the right-hand side table. My target sits at that right end, so I turn right to put it directly ahead of me.", + "The turn worked: the sofa has swung to my left and the lit lamp on its side table now stands ahead of me, just past the metal bin. I step forward to close the last of the gap to it.", + "The glowing lamp and its marble-topped table sit ahead and a little left, with the sofa's near arm alongside and the metal bin sliding past on my right. A short stretch of open tile still lies between me and that table. I keep walking to shrink it.", + "The table and its lit lamp now fill the left of my view, close enough that the wall panelling behind them reads sharply. I am still half a stride short of standing beside them, so one more step forward should put me right at the lamp.", + "The lit lamp on the sofa's right-hand side table stands within arm's reach directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000031_y-001060_z000132_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000031_y-001060_z000132_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd6efe0e854fb4417cceb4c23625c9d83758454 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000031_y-001060_z000132_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the garden path to the dark grid-window door on the blue house and open it.", + "Type": 4, + "Start_Pose": [ + -31.358, + -1060.403, + 132.319, + 0.0, + -32.748, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -31.358, + -1060.403, + 132.319, + 0.0, + -32.748, + 0.0 + ], + [ + 74.497, + -1128.486, + 155.288, + 0.0, + -32.748, + 0.0 + ], + [ + 180.351, + -1196.569, + 162.413, + 0.0, + -32.748, + 0.0 + ], + [ + 180.351, + -1196.569, + 162.413, + 0.0, + -57.748, + 0.0 + ], + [ + 247.515, + -1303.009, + 148.166, + 0.0, + -57.748, + 0.0 + ], + [ + 247.515, + -1303.009, + 148.166, + 0.0, + -82.748, + 0.0 + ], + [ + 263.403, + -1427.861, + 158.841, + 0.0, + -82.748, + 0.0 + ], + [ + 279.291, + -1552.713, + 165.107, + 0.0, + -82.748, + 0.0 + ], + [ + 279.291, + -1552.713, + 165.107, + 0.0, + -82.748, + 0.0 + ], + [ + 279.291, + -1552.713, + 165.107, + 0.0, + -82.748, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The blue house's dark door with the small grid window sits on the covered porch to my left, and a paved garden path runs forward past the flower beds. I will move forward along that path to close the large gap before turning toward the porch.", + "The grid-window door has grown larger on my left and the porch decking in front of it is now clearly visible, but I am still out on the walkway. I will continue forward along the clear paving to reach a point beside the porch steps.", + "I have drawn level with the porch, and the target door is now off at the left edge of my view while I am facing along the house wall. Turning left should bring the dark grid-window door into the center of my view so I can walk straight at it.", + "The dark grid-window door is now framed on the left of my view with the wooden porch deck open in front of me. I will move forward onto the deck to shorten the distance to the door.", + "I am on the porch, but the door has slid to the far left of my view and I am aimed at blank siding and the railing. A left turn should square me up with the door face before I step in for the handle.", + "The dark door with its nine-pane grid window is now centered ahead of me with clear decking in between. I will step forward to bring the brass knob within reach.", + "The door now fills most of my view and the brass knob is plainly visible on its right side, but I am still a step short of contact range. I will advance once more to stand directly at the threshold.", + "I am pressed right up against the dark door, with its brass knob and the pane frame filling my view at arm's length. This is the target door on the blue house, so I will try the knob to open it.", + "I see the door standing open with the interior room visible ahead of me. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000043_y-001734_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000043_y-001734_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9910e5b2c5785848410a3ff4f9d14b1dff318b9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000043_y-001734_z000169_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the refrigerator.", + "Type": 0, + "Start_Pose": [ + -43.128, + -1733.9, + 169.147, + -0.301, + -93.346, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -43.128, + -1733.9, + 169.147, + -0.301, + -93.346, + 0.0 + ], + [ + -50.474, + -1859.543, + 168.394, + -0.301, + -93.346, + -0.0 + ], + [ + -57.819, + -1985.185, + 168.394, + -0.301, + -93.346, + -0.0 + ], + [ + -57.819, + -1985.185, + 168.394, + -0.301, + -118.346, + -0.0 + ], + [ + -111.618, + -2095.768, + 168.149, + -0.301, + -118.346, + -0.0 + ], + [ + -111.618, + -2095.768, + 168.149, + -0.301, + -143.346, + -0.0 + ], + [ + -111.618, + -2095.768, + 168.149, + -0.301, + -168.346, + 0.0 + ], + [ + -111.618, + -2095.768, + 168.149, + -0.301, + -168.346, + 0.0 + ] + ], + "Rationale": [ + "From the kitchen end of the room I can see the cream retro refrigerator standing on the left, past the counter with the dishwasher. It is still several steps away down the open floor, so I will move forward along the aisle to close that distance.", + "The refrigerator is now noticeably larger on my left, with its two door handles clearly visible next to the potted plant. The floor ahead is still clear, so I will advance again to draw level with the appliance.", + "Continuing straight would carry me into the bookcase and fireplace wall, while the refrigerator has slid to the far left edge of my view. I will turn left to bring the appliance back toward the center of my heading before approaching further.", + "The refrigerator now stands clearly in the left half of my view with its handles facing me, and the gap beside the potted plant is open. I will step forward to close the remaining distance to the appliance.", + "I am now close in beside the plant and the corner, and the refrigerator body has drifted to the very left edge of my view. Turning left should swing my heading back onto the appliance instead of the corner wall.", + "The pale refrigerator door now fills the left portion of my view, but the plant and corner still occupy the center. One more left turn should place the appliance squarely in front of me at arm's reach.", + "The refrigerator door with its metal handle fills my view at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77bd042376588c2af590dc8889761b3c27d9361a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk up to the small garden lamp that is closest to you beside the driveway.", + "Type": 2, + "Start_Pose": [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + [ + -16.334, + 479.169, + 105.536, + 0.0, + 70.36, + -0.0 + ], + [ + -16.334, + 479.169, + 105.536, + 0.0, + 45.36, + -0.0 + ], + [ + 72.101, + 568.722, + 113.101, + 0.0, + 45.36, + -0.0 + ], + [ + 160.536, + 658.275, + 114.143, + 0.0, + 45.36, + -0.0 + ], + [ + 248.971, + 747.828, + 114.143, + 0.0, + 45.36, + -0.0 + ], + [ + 248.971, + 747.828, + 114.143, + 0.0, + 45.36, + -0.0 + ] + ], + "Rationale": [ + "A line of short white bollard lamps edges the lawn along the left side of the driveway, and the one nearest me sits at the near end of that line, right where the hedge corner meets the pavement. It is still well ahead, so I will walk forward up the driveway to close the gap.", + "The lamps sit off to my left along the grass strip while my heading still points straight up the driveway toward the parked car. I will turn left so the nearest lamp beside the hedge corner comes in front of me and I can walk directly at it.", + "The turn has put the lawn strip and its bollard lamps ahead of me instead of off to the side. The lamp at the near end of that strip is still several paces away, so I will step forward along the driveway edge toward it.", + "The lamps are noticeably larger now and the grass strip they stand on runs directly ahead of me. The nearest one still leaves a comfortable gap, so I will keep walking forward to bring myself right up beside it.", + "Up close the lamps no longer read as a neat line, but the one nearest me stands out low in front, close to the hedge corner at the driveway edge. A short step still separates us, so I will move forward once more to stand beside it.", + "The small garden lamp beside the driveway edge stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a2a1670ac85de778d94226f14187b15caf83517 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the next garden lamp further up the driveway, the second one from where you are standing.", + "Type": 2, + "Start_Pose": [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + [ + -16.334, + 479.169, + 105.536, + 0.0, + 70.36, + -0.0 + ], + [ + 25.969, + 597.706, + 115.521, + 0.0, + 70.36, + -0.0 + ], + [ + 68.271, + 716.243, + 113.949, + 0.0, + 70.36, + -0.0 + ], + [ + 120.635, + 807.118, + 117.521, + 0.0, + 70.36, + -0.0 + ], + [ + 120.635, + 807.118, + 117.521, + 0.0, + 45.36, + -0.0 + ], + [ + 212.567, + 889.373, + 122.955, + 0.0, + 45.36, + -0.0 + ], + [ + 212.567, + 889.373, + 122.955, + 0.0, + 45.36, + -0.0 + ] + ], + "Rationale": [ + "A line of low garden lamps runs along the lawn edge on the left of the driveway, the closest one by the hedge and my target the next one up, standing level with the small shrub at the porch corner. The concrete ahead is clear, so I walk forward to close the distance.", + "The lamp beside the porch shrub is still some way ahead on my left, and the red car sits off to the right without blocking my lane of concrete. I keep walking straight up the driveway to shorten the gap.", + "The parked car is growing on my right as I come level with it, while the lamp by the porch shrub remains ahead and to my left. The driveway in front of me is still open, so I advance again.", + "I am now passing the rear corner of the car, and the lamp I want, the one by the shrub near the porch, sits ahead on the grass to my left. One more step forward should bring me abreast of it before I turn.", + "At this range the lamps no longer read as a neat row from an end, but the one standing by the shrub at the porch corner is still clear to my left while the car crowds my right. I turn left to put that lamp in front of me.", + "The turn has brought the lawn and its lamps squarely into view, with the one beside the porch shrub a short walk ahead. I step forward across the driveway edge to reach it.", + "The garden lamp beside the porch shrub now stands directly in front of me at the driveway edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_c/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f5ebf84c9275ec4b3a9ab3b73d4d32ef2a073c4c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move forward until you reach the third small garden lamp in the row beside the driveway.", + "Type": 2, + "Start_Pose": [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + [ + -16.334, + 479.169, + 105.536, + 0.0, + 70.36, + -0.0 + ], + [ + 25.969, + 597.706, + 115.521, + 0.0, + 70.36, + -0.0 + ], + [ + 68.271, + 716.243, + 113.949, + 0.0, + 70.36, + -0.0 + ], + [ + 120.635, + 807.118, + 117.521, + 0.0, + 70.36, + -0.0 + ], + [ + 176.746, + 896.483, + 123.425, + 0.0, + 70.36, + -0.0 + ], + [ + 219.049, + 1015.02, + 131.256, + 0.0, + 70.36, + -0.0 + ], + [ + 219.049, + 1015.02, + 131.256, + 0.0, + 70.36, + -0.0 + ] + ], + "Rationale": [ + "From the foot of the driveway I can see the short row of garden lamps set in the lawn along its left edge, and counting outward from the nearest one, the third is the farthest, standing by the garage corner. The lamps look alike, so I will hold that one by its place beside the garage corner. I step forward along the driveway toward it.", + "The lamp posts beside the driveway are larger now, but I am still well short of the one standing by the garage corner. The driveway ahead is clear apart from the parked car off to the right side. I continue walking straight forward.", + "I am drawing level with the parked car on my right while the lamp I want, the one near the garage corner, is still further up the lawn edge. Nothing blocks the pavement between me and it. Another step forward should close that gap.", + "The nearest lamps of the row have swung out toward my left edge as I pass them, so I keep following the one set beside the garage corner rather than recounting the row from here. It still lies a little ahead along the lawn strip. I walk forward again.", + "The lamp beside the garage corner is now clearly in front of me at the edge of the grass, just short of where the driveway meets the garage apron. I am not yet abreast of it. I step forward to bring myself alongside.", + "The lamp by the garage corner stands close ahead on my left, with the garage door filling the view beyond it. One more step should place me right beside it. I move forward.", + "The lamp beside the garage corner now stands immediately at my left, right at arm's reach off the driveway edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af8dbdae1d5293b6c46e5e9d77115255022a1b2d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Explore the area and go to the gray car.", + "Type": 1, + "Start_Pose": [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + 0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + -49.632, + 0.0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + -74.632, + -0.0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + -99.632, + -0.0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + -124.632, + -0.0 + ], + [ + -148.584, + -3.97, + 98.15, + -0.248, + -124.632, + -0.0 + ], + [ + -148.584, + -3.97, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -257.174, + -67.598, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -365.764, + -131.226, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -474.353, + -194.853, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -582.943, + -258.481, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -691.533, + -322.109, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -800.122, + -385.736, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -908.712, + -449.364, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -1017.301, + -512.991, + 98.15, + -0.248, + -149.632, + 0.0 + ], + [ + -1017.301, + -512.991, + 98.15, + -0.248, + -124.632, + 0.0 + ], + [ + -1017.301, + -512.991, + 98.15, + -0.248, + -124.632, + 0.0 + ] + ], + "Rationale": [ + "From the middle of this residential street I can see a large white house ahead, trees, hedges and trash bins, but no gray car anywhere in this forward view. I will begin a steady leftward scan to sweep the parts of the street and driveways that are currently outside my field of view.", + "The rotation has brought a lower house with a garage and a hedge-lined yard into view, but there is still no car parked along this stretch. I will keep rotating in the same leftward direction to continue the sweep without breaking its consistency.", + "Now I am looking almost straight at a row of houses behind a tall hedge, and the visible curb and sidewalk hold no parked car. Continuing the same leftward rotation should reveal the road further along that side.", + "This view is still only houses, a brick chimney and hedges with an empty stretch of asphalt in front of them, so the target has not appeared yet. I will continue the leftward scan to open up the remaining unseen portion of the street.", + "At the very left edge of my view I can now make out the front of a dark car parked at the curb in front of the houses, which is a strong candidate for the gray car. I will turn left once more to bring that vehicle properly into view and confirm it.", + "The parked car is now fully visible ahead and to my left, a grayish dark sedan at the curb in front of the houses, so I no longer need to keep scanning. I will walk forward along the open roadway to close the distance toward it.", + "The gray sedan remains parked at the curb but sits left of my current heading, so walking straight ahead would carry me past it. I will turn left to point my path more directly at the car before advancing further.", + "My heading now lines up with the gray sedan, which sits ahead of me at the curb in front of the porch and hedge. I will step forward along the clear road to keep reducing the distance to it.", + "The gray sedan parked along the right curb in front of the cream house is clearly the target, and it is still a fair distance down the street. The roadway ahead of me is open and level, so I will keep walking straight to close that gap.", + "The parked gray car has grown noticeably larger and now sits slightly right of my heading, confirming I am closing on it. Nothing blocks the lane in front of me, so another step forward should continue shrinking the distance.", + "I can now make out the sedan's front grille and wheels beside the hedge, so my current heading is still pointed usefully at it. I will advance again rather than turn, since the car remains comfortably within my forward field of view.", + "The gray car is closer and drifting toward the right side of my view as I come up the street, but it is still well ahead of me. Continuing straight is the most direct way to reach it before any fine alignment is needed.", + "The sedan's body panels and hood are now clearly detailed just ahead on my right, so I am within a few strides of it. I will step forward again to keep reducing the remaining gap.", + "The gray car now fills a large part of the right half of my view, close enough that I can see the wheel arches and windshield distinctly. One more step forward should bring me right alongside it.", + "I am nearly at the sedan, with its front fender and headlight looming large on my right and clear pavement still between us. A final short step should place me directly beside the target car.", + "I am now standing right beside the gray sedan, but its body runs off the right edge of my view so it is not squarely in front of me. Turning right should swing my heading onto the car and center it for a clean arrival.", + "The gray car fills the near foreground directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da703739c976fa89beaf04a6b3a1bba9843b7f52 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the trash bin located on the left sidewalk.", + "Type": 2, + "Start_Pose": [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + -0.0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 37.346, + 47.132, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 151.751, + -5.324, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 266.157, + -57.78, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 380.562, + -110.236, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 494.967, + -162.692, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 494.967, + -162.692, + 98.15, + -0.248, + -49.632, + 0.0 + ], + [ + 576.484, + -258.584, + 98.15, + -0.248, + -49.632, + 0.0 + ], + [ + 576.484, + -258.584, + 98.15, + -0.248, + -49.632, + 0.0 + ] + ], + "Rationale": [ + "Two bins sit at the curbs ahead, one on the right with a black bag slumped beside it and one alone on the left kerb by the hedge, and that left one is my target. It sits well off my current heading down the road center, so I turn left to bring the plain grey bin into the middle of my view before advancing.", + "The grey bin now stands ahead of me near the left curb, below the streetlight and beside the low hedge, with clear open roadway between us. Nothing blocks the lane, so I step forward to close the distance.", + "The bin by the hedge has grown slightly larger and stays just left of my heading, so my line of travel is still good. I continue walking forward along the open road to shorten the gap.", + "The grey bin at the curb is clearly closer now, with the mailbox and hedge sliding past on my left as expected. I keep moving forward since I am still several strides short of it.", + "The bin is now a distinct shape against the grass strip and utility pole, but it remains a short walk ahead of me. I advance again to draw up beside it.", + "The grey bin fills much more of my left foreground now, standing right at the edge of the pavement. One more forward step should bring me level with it rather than leaving it ahead.", + "I am nearly level with the grey bin, but it sits off to my left edge while my heading still points down the street. I turn left so the bin is squarely in front of me for a final short approach.", + "The grey bin is now centered directly ahead against the curb, with the hedge and pole framing it. A single step forward should put me right up beside it.", + "The grey bin at the left curb fills my foreground within arm's reach. I have arrived at it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b59c751288685a989fcfa56053122dc346dc925 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t2_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the trash bin visible on the right sidewalk.", + "Type": 2, + "Start_Pose": [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + -0.0 + ], + [ + -77.059, + 99.588, + 98.15, + -0.248, + 25.368, + -0.0 + ], + [ + 36.663, + 153.509, + 98.15, + -0.248, + 25.368, + -0.0 + ], + [ + 150.385, + 207.431, + 98.15, + -0.248, + 25.368, + -0.0 + ], + [ + 264.107, + 261.352, + 98.15, + -0.248, + 25.368, + -0.0 + ], + [ + 377.829, + 315.273, + 98.15, + -0.248, + 25.368, + -0.0 + ], + [ + 377.829, + 315.273, + 98.15, + -0.248, + 25.368, + -0.0 + ] + ], + "Rationale": [ + "Two similar bins stand across from each other, one at the left curb and one on the right sidewalk with a black bag slumped against it beneath the big tree; that bagged one under the tree is my target. It sits well right of my current heading down the middle of the road. I will turn right to put it in front of me before walking.", + "The bin with the black bag beside it now sits near the center of my view, ahead along the right curb. Nothing blocks the open roadway between us, so I will step forward to close the distance.", + "The bin and its leaning bag have grown noticeably larger and remain squarely ahead of me at the curb. My heading still points at it, so another step forward is the direct way to keep closing in.", + "I can now make out the pictogram label on the bin and the sagging bag at its base, but I am still a few paces short of standing beside it. The path along the curb stays clear, so I will keep walking straight toward it.", + "The bin fills much of the lower right of my view and its rim is nearly at arm's reach, though I am not yet right up against it. One more step forward should bring me level with it at the sidewalk edge.", + "The right-sidewalk bin now stands directly before me, its open rim within arm's reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5185ddce007be4ea83178b4538d64dd3d780912a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000077_y000100_z000098_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the ceramic pot near the trash bin located on the left sidewalk.", + "Type": 5, + "Start_Pose": [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 630.801, + -246.912, + 20.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -77.059, + 99.588, + 98.15, + -0.248, + 0.368, + 0 + ], + [ + 48.796, + 100.396, + 98.15, + -0.248, + 0.368, + -0.0 + ], + [ + 48.796, + 100.396, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 163.201, + 47.94, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 277.607, + -4.516, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 392.012, + -56.972, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 506.417, + -109.428, + 98.15, + -0.248, + -24.632, + 0.0 + ], + [ + 506.417, + -109.428, + 98.15, + 0.0, + -24.632, + 0.0 + ], + [ + 506.417, + -109.428, + 98.15, + 0.0, + -24.632, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 630.801, + -246.912, + 20.15, + 0.0, + 0.0, + 0.0 + ], + [ + 514.762, + -89.763, + 68.256, + -28.202, + 25.513, + 1.862 + ], + [ + 514.762, + -89.763, + 68.256, + -28.202, + 25.513, + 1.862 + ] + ], + "PD_Dist_2D": [ + 788.1, + 677.8, + 677.8, + 552.8, + 428.4, + 305.1, + 185.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the terracotta pot sitting beside the gray trash bin far ahead on the left sidewalk, but it is still a long way off down the street. I will walk forward along the road to close that distance before worrying about heading.", + "The pot and its trash bin sit well off to my left at the curb, while my heading still points straight down the middle of the road. I will turn left so the target moves toward the center of my view and my forward path leads directly to it.", + "After turning, the trash bin and the terracotta pot now sit ahead in the left portion of my view with clear pavement between us. I will step forward along this heading to shorten the remaining distance.", + "The pot beside the gray bin is noticeably larger now, so my heading is carrying me toward it. It is still several strides away, so I will keep walking forward.", + "The terracotta pot and the bin are close to the left curb ahead and clearly framed in my view. The gap is still too large to reach out and grasp, so I will continue advancing.", + "The pot now sits low and large in the lower left of my view, right beside the trash bin at the curb. One more step forward should bring it within arm's reach for a grasp.", + "The ceramic pot is directly in front of me at the curb beside the trash bin, filling the lower part of my view. It is within arm's reach now, so I will attempt to pick it up.", + "The ceramic pot is now held in my hands rather than resting at the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000114_y-002049_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000114_y-002049_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea7ba1da37035ceece7141d825704c580db408a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000114_y-002049_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the dining area to the dark grid-window door and open it.", + "Type": 4, + "Start_Pose": [ + -113.786, + -2049.101, + 168.15, + 0.0, + 61.666, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -113.786, + -2049.101, + 168.15, + 0.0, + 61.666, + 0.0 + ], + [ + -54.052, + -1938.32, + 168.15, + 0.0, + 61.666, + -0.0 + ], + [ + -54.052, + -1938.32, + 168.15, + 0.0, + 36.666, + -0.0 + ], + [ + 45.208, + -1861.826, + 168.15, + 0.0, + 36.666, + -0.0 + ], + [ + 146.164, + -1786.67, + 168.279, + 0.0, + 36.666, + -0.0 + ], + [ + 146.164, + -1786.67, + 168.279, + 0.0, + 61.666, + -0.0 + ], + [ + 205.898, + -1675.889, + 168.279, + 0.0, + 61.666, + -0.0 + ], + [ + 205.898, + -1675.889, + 168.279, + 0.0, + 61.666, + -0.0 + ], + [ + 264.406, + -1645.653, + 168.15, + 0.0, + 61.666, + -0.0 + ], + [ + 264.406, + -1645.653, + 168.15, + 0.0, + 61.666, + -0.0 + ], + [ + 264.406, + -1645.653, + 168.15, + 0.0, + 61.666, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark door with the white grid window stands on the far wall beyond the dining table, well out of reach from here. I will move forward across the open floor to close that distance before I worry about fine alignment.", + "From this closer position the grid-window door sits left of my heading, while the table and window fill the center and right of my view. I will turn left to bring the door nearer the middle of my view so my next forward steps track toward it instead of the table.", + "The dark grid-window door is now framed ahead with clear floor between me and it, and the wardrobe and dresser stay off to the left of my path. I will move forward to keep closing on the doorway.", + "The door and its white casing are clearly visible ahead and slightly to the right, but I am still several steps short of reaching the handle. I will advance again to get within arm's reach of the door before adjusting my heading.", + "I am now close to the doorway, but the wardrobe fills the left half of my view and the door has drifted to the right side. I will turn right to square up on the door panel and its knob so an interaction attempt can be aimed properly.", + "The dark grid-window door now fills the frame ahead of me, centered in its white casing with the brass knob visible on its left edge. I am still a stride short of comfortable reach, so I will move forward to close that gap before touching the handle.", + "I am now right up against the dark door, with its glass panes and the brass knob just to my left in view. This looks close enough to grasp the handle, so I will try to open the door.", + "My attempt to open the door left it shut, since the panes and frame in front of me are unchanged and no gap has appeared. I am probably still slightly outside interaction range or offset from the knob, so I will edge forward to get nearer the handle.", + "The brass knob and its plate are now large and directly in front of me, with the door frame at my left, so my earlier reach was simply too far away. From this tighter position I will attempt to open the door again.", + "I see the doorway standing open onto the porch, lawn, and street ahead. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000122_y-002165_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000122_y-002165_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..65f6f954fec709094ba15e3355beb7d452e85383 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000122_y-002165_z000168_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head over to the circular table near the window.", + "Type": 0, + "Start_Pose": [ + -122.408, + -2165.425, + 168.149, + -0.301, + 90.425, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -122.408, + -2165.425, + 168.149, + -0.301, + 90.425, + 0.0 + ], + [ + -110.708, + -2049.557, + 168.149, + -0.301, + 90.425, + 0.0 + ], + [ + -110.708, + -2049.557, + 168.149, + -0.301, + 65.425, + 0.0 + ], + [ + -58.366, + -1935.101, + 168.149, + -0.301, + 65.425, + 0.0 + ], + [ + -6.024, + -1820.644, + 169.08, + -0.301, + 65.425, + 0.0 + ], + [ + 39.676, + -1778.519, + 169.08, + -0.301, + 65.425, + 0.0 + ], + [ + 39.676, + -1778.519, + 169.08, + -0.301, + 65.425, + 0.0 + ] + ], + "Rationale": [ + "From the kitchen aisle I can already see the small round table with chairs sitting under the curtained window at the far left end of the room. The path down the counter run ahead of me looks clear, so I will step forward to close some of that distance and get a better look at the table area.", + "After advancing, the round table under the window still sits well to the left of my heading while my body points down the kitchen counters. I will turn left to bring the table and window into the center of my view so I can walk straight at them.", + "The circular table with its two chairs and the window behind it now sit near the middle of my view with open floor and rug between us. I will move forward along this heading to shorten the remaining gap.", + "The table has grown noticeably larger and the window frame beside it fills much more of my view, so I am clearly on the right line. Nothing blocks the rug ahead, so I will keep advancing toward the table.", + "The round tabletop with its vase now occupies the lower part of my view and the window sits just to its right, so I am nearly beside it. One more short step forward should bring me right up to the table's edge.", + "The circular table with its vase is directly in front of me at arm's reach, with the window right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000134_y001556_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000134_y001556_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f305ebbe2560c25807acb3deccd1d674c5101c54 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000134_y001556_z000168_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First go to the blue crate on the floor, then move to the door.", + "Type": 3, + "Start_Pose": [ + -134.463, + 1556.367, + 168.15, + 0.0, + 71.197, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -134.463, + 1556.367, + 168.15, + 0.0, + 71.197, + -0.0 + ], + [ + -93.897, + 1675.509, + 168.15, + 0.0, + 71.197, + -0.0 + ], + [ + -53.33, + 1794.651, + 168.15, + 0.0, + 71.197, + -0.0 + ], + [ + -12.764, + 1913.794, + 168.15, + 0.0, + 71.197, + -0.0 + ], + [ + -12.764, + 1913.794, + 168.15, + 0.0, + 96.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + 96.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + 96.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + 96.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + 71.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + 46.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + 21.197, + -0.0 + ], + [ + -26.35, + 2038.917, + 168.15, + 0.0, + -3.803, + 0.0 + ], + [ + 99.232, + 2030.569, + 168.15, + 0.0, + -3.803, + 0.0 + ], + [ + 224.813, + 2022.222, + 168.15, + 0.0, + -3.803, + 0.0 + ], + [ + 224.813, + 2022.222, + 168.15, + 0.0, + -28.803, + 0.0 + ], + [ + 335.101, + 1961.583, + 168.15, + 0.0, + -28.803, + 0.0 + ], + [ + 335.101, + 1961.583, + 168.15, + 0.0, + -28.803, + 0.0 + ] + ], + "Rationale": [ + "From here I can already pick out the small blue crate sitting on the floor beside the shelving unit ahead of me, with the pale door on the far left wall. The crate is the destination I need first, so I walk straight ahead to cut down the long stretch of empty floor between us.", + "The blue crate on the floor is now clearly larger and sits just right of the shelving racks, roughly along my current heading. Nothing blocks the open concrete between us, so I keep walking forward to close more of that distance.", + "The crate now reads plainly as an open blue box on the floor between the shelves and the work table, still a few paces off to my right of center. My heading remains usable, so I take another step forward rather than turning this early.", + "The blue crate has drifted well toward the lower right edge of my view while the shelving fills the left side, so walking straight would carry me past it. I turn right to swing my heading onto the crate and keep it in front of me.", + "The turn has brought the blue crate back into the lower middle of my view, sitting on the floor beside the small table. With it lined up ahead, I step forward to reach it.", + "I am close enough now that my level gaze shows only bare wall and the table top with its paper sack, and the crate has dropped out of sight beneath my view. I look down to bring the floor right in front of me back into view and confirm the crate is at my feet.", + "The open blue crate lies directly below me on the floor, close enough that its rim and inner walls fill the near part of my view. I have reached it. I mark arriving at this crate before heading across the room to the white door.", + "The blue crate is at my feet and that part of the errand is done, but I am facing into the corner wall and table with no door in sight. The pale door stands back along the far wall to my left, so I turn left to begin swinging my heading around toward it.", + "Having marked the blue crate on the floor, I now need the door, but ahead of me is only bare concrete wall with a loaded shelf unit at my left edge. I will turn further left to sweep my view toward the side of the room where a doorway should be.", + "The turn has brought the full storage rack of blue and white bins into view, but still no doorway. I will keep rotating left so the open floor beyond the shelving comes into my view.", + "The white panelled door with its brass knob has appeared at the far left of my view, past the end of the shelving. I will turn left once more to bring it nearer the middle of my heading before walking to it.", + "The white door now sits close to the center of my view with clear, empty floor between it and me. I will walk forward to close that distance.", + "The door has grown noticeably larger and its handle is now distinct, so my heading is carrying me straight at it. I will step forward again to keep closing on it.", + "I am close now, but the door has drifted to the left half of my view with bare wall filling the right. I will turn left to square my heading onto the door before the last step.", + "The door and its frame now sit ahead of me with only a short stretch of floor left. I will take one more step forward to stand right at it.", + "The door's handle and frame fill my view at arm's length. Both destinations are reached, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000135_y001914_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000135_y001914_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5abf536a14cd4e9d8ad88c5c69df1b5a963e4065 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000135_y001914_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white side door to the left of the garage storage racks.", + "Type": 4, + "Start_Pose": [ + -135.197, + 1914.21, + 168.15, + 0.0, + 10.704, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -135.197, + 1914.21, + 168.15, + 0.0, + 10.704, + 0.0 + ], + [ + -11.528, + 1937.586, + 168.15, + 0.0, + 10.704, + -0.0 + ], + [ + 112.141, + 1960.963, + 168.15, + 0.0, + 10.704, + -0.0 + ], + [ + 112.141, + 1960.963, + 168.15, + 0.0, + -14.296, + 0.0 + ], + [ + 234.103, + 1929.884, + 168.15, + 0.0, + -14.296, + 0.0 + ], + [ + 234.103, + 1929.884, + 168.15, + 0.0, + 10.704, + -0.0 + ], + [ + 348.229, + 1952.94, + 168.15, + 0.0, + 10.704, + -0.0 + ], + [ + 348.229, + 1952.94, + 168.15, + 0.0, + 10.704, + -0.0 + ], + [ + 348.229, + 1952.94, + 168.15, + 0.0, + 10.704, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the garage floor I can see the white side door set in the far wall, well to the left of the tall storage racks holding the blue bins. It is still far away, so I will move forward across the open floor to close the distance toward it.", + "The door now fills more of my view and its brass handle is becoming visible, but I am still several steps back from reaching distance. I will continue forward to keep closing on it before fine alignment.", + "The door is close now, but it sits slightly left of my heading while the shelving edge still intrudes on the right of my view. I will turn left so my facing swings toward the door panel and its handle rather than the bare wall beside it.", + "With the racks out of my view and only the plain wall and the door ahead, the path to the door is clear. I will step forward to bring the handle within reaching distance.", + "I am very near the door, but it has drifted into the right half of my view with the blank wall and pipe filling the left. I will turn right to square my facing onto the door panel and its handle.", + "The door is now centered in front of me with the handle clearly visible at my left, so my heading is good. I will take one short step forward to be firmly within reach of the latch.", + "I am pressed right up against the white door panel, close enough that only its surface fills my view, which means the latch is within arm's reach. I will attempt to open the door now, and it should swing clear of the frame.", + "The white side door now stands open, revealing the lit interior room beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000188_y001567_z000168_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000188_y001567_z000168_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67092f953a7e54cdd77c2dbd74419c10d24a92d0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000188_y001567_z000168_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the plate near the shelf unit on the right.", + "Type": 5, + "Start_Pose": [ + -187.799, + 1566.988, + 168.15, + -0.199, + 18.661, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 170.694, + 2020.081, + 118.15, + 90, + 30, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -187.799, + 1566.988, + 168.15, + -0.199, + 18.661, + 0 + ], + [ + -187.799, + 1566.988, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + -93.218, + 1639.009, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + -2.167, + 1725.9, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + 88.884, + 1812.791, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + 88.884, + 1812.791, + 168.15, + -0.199, + 68.661, + -0.0 + ], + [ + 134.681, + 1930.021, + 168.15, + -0.199, + 68.661, + -0.0 + ], + [ + 134.681, + 1930.021, + 168.15, + 0.0, + 68.661, + -0.0 + ], + [ + 134.681, + 1930.021, + 168.15, + 0.0, + 68.661, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 170.694, + 2020.081, + 118.15, + 90.0, + 30.0, + 0.0 + ], + [ + 114.569, + 1937.223, + 138.257, + -28.202, + 118.806, + 1.862 + ], + [ + 114.569, + 1937.223, + 138.257, + -28.202, + 118.806, + 1.862 + ] + ], + "PD_Dist_2D": [ + 577.8, + 577.8, + 463.5, + 341.2, + 222.8, + 222.8, + 97.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The shelf unit and the large white plate resting against it sit far to my right edge, while my heading points down the empty garage bay. I will turn right to bring that shelving and the plate toward the center of my view before walking toward them.", + "The shelving unit and the white plate leaning at its base are now framed ahead of me with open floor in between. I will walk forward to close the long gap toward the plate.", + "The plate and the crates on the shelves have grown noticeably larger, confirming my heading leads straight to the target. Nothing blocks the floor ahead, so I will keep walking forward to shorten the remaining distance.", + "The plate now stands out clearly in front of the lower shelf, but it is still several steps beyond arm's reach. I will advance again to get close enough for a grasp.", + "At this closer range the plate has drifted to the lower right of my view, with the door wall filling the left side. I will turn right so the plate sits squarely in front of me before the final step in.", + "The plate is now centered ahead of me against the shelf's lower level, yet still a step short of reach. I will step forward once more to bring it within grasping range.", + "The plate now fills the near foreground of my view, close enough that the shelving behind it is no longer between us. My hands are empty, so I will attempt to grasp and lift the plate now.", + "The plate is off the shelf area and now held in my hands. The lifting task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..94402ee686996ac35c3c67624585c9d474398117 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t1_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Search for the gray car near the large tree and go to it.", + "Type": 1, + "Start_Pose": [ + -201.458, + 779.99, + 115.55, + -0.05, + 105.047, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -201.458, + 779.99, + 115.55, + -0.05, + 105.047, + -0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + 80.047, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + 55.047, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + 30.047, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + 5.047, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + -19.953, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + -44.953, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + -69.953, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + -94.953, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + -119.953, + 0.0 + ], + [ + -201.458, + 779.99, + 115.55, + -0.05, + -144.953, + 0.0 + ], + [ + -266.979, + 704.421, + 113.949, + -0.05, + -144.953, + 0.0 + ], + [ + -370.018, + 632.147, + 113.949, + -0.05, + -144.953, + 0.0 + ], + [ + -370.018, + 632.147, + 113.949, + -0.05, + -119.953, + 0.0 + ], + [ + -432.858, + 523.099, + 121.662, + -0.05, + -119.953, + 0.0 + ], + [ + -495.698, + 414.05, + 108.856, + -0.05, + -119.953, + 0.0 + ], + [ + -558.538, + 305.001, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -621.378, + 195.953, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -684.218, + 86.904, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -747.058, + -22.145, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -809.898, + -131.193, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -872.738, + -240.242, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -935.578, + -349.291, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -998.418, + -458.339, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -1060.268, + -556.981, + 98.15, + -0.05, + -119.953, + 0.0 + ], + [ + -1060.268, + -556.981, + 98.15, + -0.05, + -119.953, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a garage door, a fenced lawn and the corner of a dark red car at the far left, so nothing here matches a gray car beside a large tree. I will turn left to swing my view toward the driveway and the open ground past it. That should reveal parts of the street I cannot currently see.", + "The car now centered in the driveway is clearly dark red, not the gray one I am looking for, and no large tree stands near it. I will keep turning left to carry the sweep past this driveway. More of the yard and the street beyond may come into view.", + "The red car fills most of my view and the house wall blocks anything behind it, so this driveway offers nothing further to check. Turning left again should move my gaze off this parked car and toward the open frontage of the property.", + "Tall tree crowns and neighboring houses have just appeared at the left edge of my view, which is the kind of setting the task describes. I will continue turning left to bring those trees fully in front of me. A gray car parked among them may then become visible.", + "Several large trees now line the sidewalk ahead of me and the street opens beyond them, but I see no gray car parked along it yet. I will turn left once more to extend the sweep down the roadway. That direction is where parked cars would most likely sit.", + "The road and the houses opposite are open in front of me, yet the curb under these trees holds only bins and hedges, no gray car. I will keep rotating left to inspect the stretch of street still outside my view.", + "This part of the street is empty of parked vehicles, with only houses, hedges and tree trunks in front of me. Another left turn should carry my gaze further along the road where I have not looked yet.", + "A thick tree trunk stands right beside me and the roadway ahead still shows no gray car, so this sector is exhausted. I will turn left again to continue the sweep along the curb on the far side. A vehicle parked further down the street may come into view.", + "A dark gray car is now visible across the road, parked at the curb beside the houses, but a thick tree trunk and ferns sit right in front of me and cut the view. I will keep turning left to sweep past this trunk and get a cleaner line on that car.", + "The gray car across the street stays in sight, but foliage and a trunk still crowd the near edge of my view. One more turn to the left should put the open sidewalk straight ahead of me so I can start closing distance instead of standing behind these bushes.", + "The sidewalk now runs clear ahead of me, with the gray car parked along the far curb to my right beside the low house. Since the target is identified, I will walk forward along this open path to shorten the distance before angling across.", + "The gray car sits slightly larger in view at the opposite curb, so my last step did bring me nearer. The walkway ahead is still unobstructed, so I will continue forward to draw level with the car before crossing toward it.", + "I am now roughly abreast of the gray car, which sits across the road to my right in front of the porch and picket fence. Turning right should point me straight at it so the remaining distance can be covered in a direct line.", + "The gray car is now centered ahead of me across the open road, with nothing between me and it. With the heading settled on the target, I will step forward and commit to the approach.", + "The car has grown noticeably in front of me, confirming the forward step closed distance along a clear stretch of road. I will keep walking straight toward it since it remains directly in my path.", + "The gray car sits ahead beneath the large tree by the picket fence and is clearly nearer than before. Nothing blocks the crossing, so I will continue advancing toward it.", + "The gray car is parked at the curb ahead under the big tree, clearly the target I was searching for. It still sits small in my view across the road, so I will keep walking straight toward it.", + "Each step makes the gray car under the tall tree grow larger and stay centered slightly left of my heading. Nothing blocks the open pavement between us, so I will continue advancing.", + "The gray car by the picket fence and the large tree keeps filling more of my view as I close in. My current heading needs no correction, so another step forward should shrink the remaining gap.", + "I am now on the open roadway with the gray car directly ahead beneath the large tree. Its body and wheels are clearly resolved, but I am still several strides short, so I keep moving forward.", + "The gray car now dominates the middle of my view, its front end angled toward me under the tree's canopy. I am close but not yet beside it, so I continue straight ahead.", + "Only a short stretch of road separates me from the gray car parked under the big tree. Its side panels and headlights are sharp at this range, so a further step should bring me right up to it.", + "The gray car is now very near, its hood and front wheel spanning much of my view beneath the tree. I will take another step to close the last bit of distance and stand at the vehicle.", + "I am practically at the gray car, with its front end looming across my view under the large tree. One more short step forward should place me right against it to complete the approach.", + "The gray car by the large tree fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9262e31f627566e0b8784cb94a640fe87e3ef924 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000201_y000780_z000116_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First go to the garage wall light, then go to the fence corner where the two fences join.", + "Type": 3, + "Start_Pose": [ + -201.458, + 779.99, + 115.55, + -0.05, + 105.047, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookUp", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -201.458, + 779.99, + 115.55, + -0.05, + 105.047, + -0.0 + ], + [ + -229.545, + 901.556, + 123.757, + -0.05, + 105.047, + -0.0 + ], + [ + -262.22, + 1023.1, + 131.787, + -0.05, + 105.047, + -0.0 + ], + [ + -262.22, + 1023.1, + 131.787, + -0.05, + 80.047, + 0.0 + ], + [ + -240.466, + 1147.065, + 139.976, + -0.05, + 80.047, + 0.0 + ], + [ + -218.713, + 1271.03, + 148.149, + -0.05, + 80.047, + 0.0 + ], + [ + -196.959, + 1394.994, + 160.582, + -0.05, + 80.047, + 0.0 + ], + [ + -196.959, + 1394.994, + 160.582, + -0.05, + 105.047, + 0.0 + ], + [ + -196.959, + 1394.994, + 160.582, + -0.05, + 105.047, + 0.0 + ], + [ + -196.959, + 1394.994, + 160.582, + -0.05, + 105.047, + 0.0 + ], + [ + -196.959, + 1394.994, + 160.582, + -0.05, + 130.047, + 0.0 + ], + [ + -279.375, + 1466.778, + 148.266, + -0.05, + 130.047, + 0.0 + ], + [ + -360.511, + 1562.967, + 148.266, + -0.05, + 130.047, + 0.0 + ], + [ + -441.491, + 1659.314, + 148.266, + -0.05, + 130.047, + 0.0 + ], + [ + -522.471, + 1755.662, + 148.266, + -0.05, + 130.047, + 0.0 + ], + [ + -603.45, + 1852.009, + 148.266, + -0.05, + 130.047, + 0.0 + ], + [ + -603.45, + 1852.009, + 148.266, + -0.05, + 130.047, + 0.0 + ] + ], + "Rationale": [ + "The lantern-style wall light is mounted on the garage siding to my left, beside the closed white door, and I am still far out on the lawn. I will walk forward to cut down that distance before I worry about squaring up to it.", + "The garage light has grown noticeably and its bracket is now clear against the siding, so my heading is still useful. I will keep walking forward to close more of the remaining gap across the grass.", + "The lamp and the garage face have slid toward the left edge of my view while my path is carrying me toward the open yard instead. I will turn left so the garage wall and its light sit ahead of me rather than off to the side.", + "The turn has put the garage front squarely ahead, with the lantern glowing dark against the pale siding on its right corner. I will walk forward along the driveway edge to close on that light.", + "The lantern is much bigger now and its glass panes and bulb are distinct, so I am nearly under it. Another step forward should bring me right up beside the garage wall where it hangs.", + "The fixture hangs just above and ahead of me on the corner of the siding, with the driveway still open at my feet. I will take one more step forward to stand directly at that stretch of wall.", + "I am so close that the garage panel and the corner trim fill everything and the lamp has passed out of my view above me. I will turn right to face the siding corner it is mounted on and open up the side yard beyond.", + "Facing the corner of the siding I can see the yard and its fencing to the right, but the wall fixture sits above my level line of sight. I will look up to bring the lamp into view and confirm I am standing at it.", + "The dark lantern fixture is mounted on the garage siding directly above me, close enough that its bracket and glass fill the upper part of my view. I am standing at the garage wall light. I mark reaching it, and now I set off for the corner where the two fence runs meet.", + "Nothing more is needed at this wall lantern hanging just above me. The fenced grass strip and the joining fence panels lie off to my right past the edge of this garage wall. I will turn right to bring that yard and its fence lines into view.", + "The turn has opened up the grassy side yard, with fence panels running along the right and another line crossing further ahead. The place where those two runs join is well beyond my current position. I will walk forward across the grass to close that distance.", + "The garage siding no longer crowds my left side and the yard is fully open in front of me. I can now pick out where the fence along the right meets the run crossing to the left, a bit ahead and slightly left of center. Another step forward should bring me nearer that junction.", + "The seam where the left-hand fence run meets the right-hand run sits just left of center and is noticeably larger than before. There is still open lawn between me and that post. I will keep walking straight toward it.", + "The two fence runs now fill most of my view and their meeting post is clearly ahead of me. Only a short stretch of grass remains before I reach it. I will step forward again to close in on the corner.", + "The corner post where the two fences join is directly in front of me, with the panels angling away on both sides and only a sliver of grass at its base. One more step forward should place me right at that junction.", + "The two fence panels meet at the post directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000475_y001016_z000131_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000475_y001016_z000131_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a8bcdbff4746967df2d88faac5e817b5adefa17 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000475_y001016_z000131_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the American flag.", + "Type": 0, + "Start_Pose": [ + -474.974, + 1015.755, + 131.299, + -0.301, + -164.356, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -474.974, + 1015.755, + 131.299, + -0.301, + -164.356, + 0.0 + ], + [ + -596.169, + 981.816, + 129.057, + -0.301, + -164.356, + 0.0 + ], + [ + -717.364, + 947.878, + 126.815, + -0.301, + -164.356, + 0.0 + ], + [ + -717.364, + 947.878, + 126.815, + -0.301, + 170.644, + 0.0 + ], + [ + -841.547, + 968.338, + 128.166, + -0.301, + 170.644, + 0.0 + ], + [ + -841.547, + 968.338, + 128.166, + -0.301, + 145.644, + -0.0 + ], + [ + -945.448, + 1039.364, + 132.859, + -0.301, + 145.644, + -0.0 + ], + [ + -1049.349, + 1110.389, + 137.551, + -0.301, + 145.644, + -0.0 + ], + [ + -1153.25, + 1168.15, + 178.11, + -0.301, + 145.644, + -0.0 + ], + [ + -1153.25, + 1168.15, + 178.11, + -0.301, + 145.644, + -0.0 + ], + [ + -1153.25, + 1168.15, + 178.11, + -0.301, + 145.644, + -0.0 + ] + ], + "Rationale": [ + "The American flag is already visible ahead on the left, hanging from a post on the covered porch of the pale house. Open lawn runs between me and that porch, so I will step forward along it to begin closing the distance.", + "The flag and its porch have grown slightly larger toward the left of my view, confirming my previous step took me closer. The lawn ahead is still unobstructed, so I will advance again before adjusting my heading.", + "The flag now sits well off to the left near the edge of my view while I am heading straight along the fence line. I will turn left to bring the flag and the porch it hangs from closer to the center of my heading.", + "The porch with the flag is now on the left front of my view rather than off to the side, so my heading points usefully toward it. I will move forward across the lawn to shorten the remaining gap.", + "From here the flag still hangs above the porch to my left while my path leads more toward the street and fence. A further left turn should square me up with the flag and the porch decking directly beneath it.", + "The flag is now near the upper center of my view with the porch and flower beds framing it, so my heading is well aligned. I will step forward to keep closing on it.", + "The porch columns and hanging basket now fill much of my view, and the flag hangs just above me on the left. Another step forward should place me right beneath the flag's mounting post.", + "The flag's staff and bracket are now overhead at the top of my view, so I am nearly at its position on the porch. I will take one more short step forward to stand directly at the flag.", + "I am now standing right at the porch edge, and the flag that guided my approach has passed above the top of my view, leaving only decking, railing, and the porch ceiling ahead of me. Tilting my head upward should bring the flag and its mounting bracket back into sight so I can confirm I am standing directly beneath it.", + "The American flag hangs directly overhead on its bracket, an arm's length from where I stand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000549_y001235_z000146_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000549_y001235_z000146_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db87e157941ea5c69d69a22a982573b8cd6d267c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000549_y001235_z000146_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Look around the area and move toward the red car that is close to you.", + "Type": 1, + "Start_Pose": [ + -549.411, + 1235.279, + 145.807, + -0.301, + 178.57, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -549.411, + 1235.279, + 145.807, + -0.301, + 178.57, + 0.0 + ], + [ + -549.411, + 1235.279, + 145.807, + -0.301, + -156.43, + 0.0 + ], + [ + -549.411, + 1235.279, + 145.807, + -0.301, + -131.43, + 0.0 + ], + [ + -549.411, + 1235.279, + 145.807, + -0.301, + -106.43, + 0.0 + ], + [ + -549.411, + 1235.279, + 145.807, + -0.301, + -81.43, + 0.0 + ], + [ + -549.411, + 1235.279, + 145.807, + -0.301, + -56.43, + 0.0 + ], + [ + -549.411, + 1235.279, + 145.807, + -0.301, + -31.43, + 0.0 + ], + [ + -442.02, + 1169.65, + 141.471, + -0.301, + -31.43, + 0.0 + ], + [ + -442.02, + 1169.65, + 141.471, + -0.301, + -6.43, + 0.0 + ], + [ + -316.954, + 1155.555, + 140.54, + -0.301, + -6.43, + 0.0 + ], + [ + -191.889, + 1141.461, + 139.609, + -0.301, + -6.43, + 0.0 + ], + [ + -85.098, + 1134.029, + 139.119, + -0.301, + -6.43, + 0.0 + ], + [ + -85.098, + 1134.029, + 139.119, + -0.301, + -6.43, + 0.0 + ] + ], + "Rationale": [ + "My whole view is filled by a tall wooden fence, so no red car or any other useful cue is visible from this heading. I will turn right to begin a consistent scan of the surroundings and open up the area beyond this barrier.", + "The fence has slid to the left edge and I can now see grass, a picket fence, a hedge and houses across the way, but no red car yet. I will keep turning right in the same direction to sweep more of this residential area.", + "More of the neighborhood is open now, with a long hedge, picket fence and houses ahead, and only a dark colored car parked near a distant house. That is not the red car I need, so I will continue the rightward scan toward the rest of the street.", + "The hedge still runs across most of my view and the only vehicle visible is the dark one on the far left near the houses. Continuing to turn right should reveal the road and driveways on that side, which are the likely places a red car would be parked.", + "I can now see paved surfaces, a street lamp and driveways opening on the right side of the view, but still no red car. I will keep turning right toward that open pavement, where parked vehicles are most plausible.", + "A red car is now visible on the right side of my view, parked on the pavement fairly close to me. I will turn right once more to bring it toward the middle of my view so I can walk straight at it.", + "The red car is now centered ahead of me on the driveway pavement with open grass and sidewalk in between. I will walk forward to close the distance toward it.", + "After stepping closer, the red car has grown large but its body now sits toward the right of my view with its front running off the right edge. I will turn right to recenter the car and face the driveway directly before advancing again.", + "The red car now sits squarely in the middle of my view on the concrete driveway, so my heading is well aligned with it. It is still several body lengths away, so I will walk straight ahead to close that gap.", + "The red car has grown noticeably larger and its side panels now dominate the lower half of my view, confirming the previous step brought me closer. Since it is still a short distance off and the driveway ahead is clear, I will keep walking forward toward it.", + "I am now right beside the front half of the red car, with its hood, mirror and wheel filling most of my view. One more short step forward should place me directly at the vehicle, satisfying the requirement to be close to it.", + "The red car's windshield and hood fill my view at arm's length. The task is complete, so I stop here rather than crowding the vehicle further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000615_y000054_z000098_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000615_y000054_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b225d4fa34ece43225dd95ea3466a27d85ee34f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000615_y000054_z000098_t5_a_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the trash bag, then drop it near the gray car in front.", + "Type": 5, + "Start_Pose": [ + -614.585, + 53.849, + 98.204, + -0.006, + -114.768, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -741.049, + -311.214, + 4.393, + -4.009, + -69.122, + 70.63 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -614.585, + 53.849, + 98.204, + -0.006, + -114.768, + 0 + ], + [ + -667.313, + -60.432, + 98.204, + -0.006, + -114.768, + -0.0 + ], + [ + -720.041, + -174.714, + 98.204, + -0.006, + -114.768, + -0.0 + ], + [ + -720.041, + -174.714, + 98.204, + 0.0, + -114.768, + 0.0 + ], + [ + -772.769, + -288.995, + 98.204, + 0.0, + -114.768, + 0.0 + ], + [ + -825.497, + -403.277, + 98.204, + 0.0, + -114.768, + 0.0 + ], + [ + -825.497, + -403.277, + 98.204, + 0.0, + -139.768, + 0.0 + ], + [ + -921.582, + -484.567, + 98.204, + 0.0, + -139.768, + 0.0 + ], + [ + -1015.044, + -559.858, + 98.15, + 0.0, + -139.768, + 0.0 + ], + [ + -960.077, + -513.355, + 98.15, + 0.0, + -139.768, + 0.0 + ], + [ + -960.077, + -513.355, + 98.15, + 0.0, + -139.768, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -741.049, + -311.214, + 4.393, + -4.009, + -69.122, + 70.63 + ], + [ + -741.049, + -311.214, + 4.393, + -4.009, + -69.122, + 70.63 + ], + [ + -741.049, + -311.214, + 4.393, + -4.009, + -69.122, + 70.63 + ], + [ + -700.396, + -183.106, + 68.256, + -28.202, + -64.623, + 1.862 + ], + [ + -753.227, + -297.624, + 67.769, + -28.195, + -64.62, + 1.862 + ], + [ + -805.981, + -411.94, + 67.713, + -28.209, + -64.63, + 1.855 + ], + [ + -811.857, + -418.238, + 68.838, + -28.198, + -89.618, + 1.868 + ], + [ + -907.236, + -500.405, + 68.475, + -28.196, + -89.621, + 1.865 + ], + [ + -1001.016, + -575.962, + 67.681, + -28.202, + -89.626, + 1.859 + ], + [ + -1013.517, + -558.567, + 58.15, + 0.0, + -139.768, + 0.0 + ], + [ + -1013.517, + -558.567, + 58.15, + 0.0, + -139.768, + 0.0 + ] + ], + "PD_Dist_2D": [ + 386.3, + 261.4, + 138.1, + 21.4, + 21.4, + 21.4, + 20.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The trash bag is lying on the road ahead of me, slightly right of my heading, and the gray car is parked further ahead by the hedge. It is still too far away to grasp, so I will walk forward to close the gap.", + "The bag now fills more of my lower view, so my heading toward it is good but I am still short of grabbing range. I will step forward again to bring it directly at my feet.", + "The bag has come right up under me and only its top edge shows at the bottom of my view, meaning I am standing over it. This is close enough to reach down, so I will attempt to pick it up.", + "The grasp worked, since the bag is now carried with me instead of resting on the asphalt. The gray car sits ahead along the curb, so I will walk forward to carry the bag toward it.", + "The car's front end is noticeably closer and larger in my view, but I am still a few steps from its side. Carrying the bag, I will advance again to reach a drop position beside it.", + "The car has drifted to the left edge of my view and my heading now points past it toward the open road. I will turn left so the vehicle sits centered ahead of me before I continue.", + "With the car now framed ahead of me and still holding the bag, the drop point beside it is within a short walk. I will step forward to close in on the vehicle.", + "The car's hood and front fender now dominate my view, so I am nearly alongside it. One more step should place me close enough for the bag to land right next to the vehicle.", + "I am still carrying the trash bag and I am now right up against the flank of the gray car ahead of me, close enough that its bodywork fills most of my view. This is the release point the task asks for, so I will drop the bag here and it should come to rest beside the car.", + "The trash bag now lies against the gray car, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000625_y000237_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000625_y000237_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e79a4be9d628fdd809dca68e35925cc28f4b5167 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000625_y000237_z000098_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the trunk of the Y-shaped tree outside the house displaying the American flag.", + "Type": 0, + "Start_Pose": [ + -624.603, + 237.166, + 98.15, + -0.148, + 150.506, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -624.603, + 237.166, + 98.15, + -0.148, + 150.506, + -0.0 + ], + [ + -734.151, + 299.13, + 98.15, + -0.148, + 150.506, + -0.0 + ], + [ + -843.699, + 361.095, + 98.15, + -0.148, + 150.506, + -0.0 + ], + [ + -843.699, + 361.095, + 98.15, + -0.148, + 175.506, + -0.0 + ], + [ + -969.171, + 370.956, + 98.15, + -0.148, + 175.506, + -0.0 + ], + [ + -1094.643, + 380.818, + 102.466, + -0.148, + 175.506, + -0.0 + ], + [ + -1094.643, + 380.818, + 102.466, + -0.148, + 150.506, + -0.0 + ], + [ + -1204.191, + 442.782, + 114.52, + -0.148, + 150.506, + -0.0 + ], + [ + -1204.191, + 442.782, + 114.52, + -0.148, + 150.506, + -0.0 + ] + ], + "Rationale": [ + "The house on my left shows an American flag hanging from its porch, and in the grass strip ahead along the curb I can see a tall tree whose trunk splits into a Y. I will step forward along the sidewalk to begin closing the gap toward that trunk.", + "The flagged house is now closer on my left and the forked trunk ahead has grown noticeably larger in my view. The way along the sidewalk stays clear, so I will keep advancing toward that tree.", + "A thick trunk and dense ferns now sit right on my forward line, while the open curb strip continues to my right toward the rest of the tree row. I will turn slightly right so I can keep moving along that open ground beside the road instead of pressing into the planting.", + "With my heading now set along the open curb, the sidewalk and grass strip run clear ahead past the nearby trunk on my left. I will move forward to keep closing distance on the tree row where the Y-shaped trunk stands.", + "The nearby trunk has slid to the left edge of my view, showing that my line along the curb is passing it cleanly. I will step forward again to reach the part of the strip where the forked tree stands.", + "My heading is now pointed down the street rather than at the tree strip, with the trunks off to my left. I will turn left to bring the Y-shaped trunk back into the center of my view before the final approach.", + "The tree with the clearly forked, Y-shaped trunk now stands directly ahead in the center of my view, with the flag-bearing house just beyond it on the left. I will move forward to bring myself right up to its trunk.", + "The forked trunk of the Y-shaped tree fills the center of my view within arm's reach beside the flag-bearing house. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000907_y001095_z000137_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000907_y001095_z000137_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b03bc518a57bac684b24098dae2202a5958ba9b1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000907_y001095_z000137_t1_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Explore the surroundings and go to the gray car on the road.", + "Type": 1, + "Start_Pose": [ + -906.72, + 1095.267, + 136.558, + -0.301, + 167.067, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -906.72, + 1095.267, + 136.558, + -0.301, + 167.067, + 0.0 + ], + [ + -906.72, + 1095.267, + 136.558, + -0.301, + -167.933, + 0.0 + ], + [ + -906.72, + 1095.267, + 136.558, + -0.301, + -142.933, + 0.0 + ], + [ + -906.72, + 1095.267, + 136.558, + -0.301, + -117.933, + 0.0 + ], + [ + -906.72, + 1095.267, + 136.558, + -0.301, + -142.933, + 0.0 + ], + [ + -1007.145, + 1019.407, + 131.546, + -0.301, + -142.933, + 0.0 + ], + [ + -1107.571, + 943.546, + 126.535, + -0.301, + -142.933, + 0.0 + ], + [ + -1207.996, + 867.686, + 121.523, + -0.301, + -142.933, + 0.0 + ], + [ + -1305.018, + 838.492, + 127.673, + -0.301, + -142.933, + 0.0 + ], + [ + -1305.018, + 838.492, + 127.673, + -0.301, + -117.933, + 0.0 + ], + [ + -1368.413, + 784.035, + 115.996, + -0.301, + -117.933, + 0.0 + ], + [ + -1368.413, + 784.035, + 115.996, + -0.301, + -92.933, + 0.0 + ], + [ + -1374.853, + 658.343, + 113.949, + -0.301, + -92.933, + 0.0 + ], + [ + -1381.293, + 532.65, + 120.912, + -0.301, + -92.933, + 0.0 + ], + [ + -1387.733, + 406.958, + 108.856, + -0.301, + -92.933, + 0.0 + ], + [ + -1394.172, + 281.266, + 98.15, + -0.301, + -92.933, + 0.0 + ], + [ + -1394.172, + 281.266, + 98.15, + -0.301, + -67.933, + 0.0 + ], + [ + -1346.889, + 164.628, + 98.15, + -0.301, + -67.933, + 0.0 + ], + [ + -1299.606, + 47.99, + 98.15, + -0.301, + -67.933, + 0.0 + ], + [ + -1252.322, + -68.647, + 98.15, + -0.301, + -67.933, + 0.0 + ], + [ + -1205.039, + -185.285, + 98.15, + -0.301, + -67.933, + 0.0 + ], + [ + -1205.039, + -185.285, + 98.15, + -0.301, + -92.933, + 0.0 + ], + [ + -1211.479, + -310.977, + 98.15, + -0.301, + -92.933, + 0.0 + ], + [ + -1217.919, + -436.669, + 98.15, + -0.301, + -92.933, + 0.0 + ], + [ + -1224.359, + -562.362, + 98.15, + -0.301, + -92.933, + 0.0 + ], + [ + -1224.359, + -562.362, + 98.15, + -0.301, + -92.933, + 0.0 + ] + ], + "Rationale": [ + "From the front yard I can see the porch and flowerbeds filling most of my view, and only a narrow strip of street with distant vehicles at the far right. Since no gray car is clearly identifiable ahead, I will turn right to sweep my view toward the street where parked cars are most likely to be.", + "Turning right has opened up the yard boundary with a white picket fence and a paved street beyond it, but the vehicles I can pick out are still far away and unclear. I will keep scanning in the same rightward direction to bring more of the roadway and its curb into view.", + "The near roadway is now clearly in front of me and a dark vehicle is appearing at the right edge, parked along the far curb by the long white house. I will continue the same rightward turn to bring that vehicle fully into view and judge whether it is the gray car I need.", + "The dark gray car is now clearly parked at the far curb ahead of me, so I no longer need to keep scanning. A picket fence runs directly across my line of sight, so I will turn slightly left to face the open lawn and paved walkway that should let me leave the yard toward the road.", + "I am now facing along the yard past the flowerbeds, with the fence line running off to my right and the gray car parked across the street on that side. I will walk forward to close distance toward the sidewalk and the curb before turning to face the car.", + "My last step made progress, since the flowerbeds have slid to my left and more of the sidewalk and the mailbox post ahead are visible. I will continue forward along this open lane toward the street edge.", + "The paved walkway now runs clearly ahead of me with the fence corner at my right and a bin further along the sidewalk. Another step forward should bring me out past the yard boundary and onto the sidewalk beside the road.", + "I have reached the sidewalk, with the yard fence behind my left shoulder and the open roadway laid out ahead and to my right. I will step forward once more to reach the curb area before reorienting toward the gray car parked along the far side of the street.", + "From this sidewalk the street opens up to my right, and the stretch of road directly ahead of me is empty of any parked vehicle. Since the lawns and fences on my left are clearly not where a car would be, I will turn right to sweep the open roadway and the houses across it for the gray car.", + "Turning has brought a dark gray car into view, parked at the far curb in front of the long white house across the street. It is still well beyond the trash bin and mailbox in front of me, so I will walk forward along the sidewalk to close some of that distance and get a cleaner line to it.", + "The gray car is now clearly parked at the opposite curb, but it sits off to my right while my heading still runs along the sidewalk. I will turn right so my facing crosses the road toward the car instead of running parallel to it.", + "The turn has put the gray car and the house behind it roughly in front of me, with the roadway spread out ahead and no traffic in it. I will step forward off the verge toward the road to begin closing the gap to the parked car.", + "I am now out onto the road surface with the gray car plainly ahead beside the white picket fence, and the tree trunk that partly blocked my view has slid to my right. The lane ahead is clear, so I keep walking forward toward the car.", + "The gray car is centered slightly right in my view and noticeably larger than a moment ago, confirming I am closing on it across the open road. Nothing blocks the lanes ahead, so I continue straight forward.", + "The parked gray car now reads clearly at the far curb ahead, side-on with the white fence and house behind it, and the road between us is still empty. I keep advancing to reduce the remaining distance.", + "I am well out into the road and the gray car now sits to the right of my current heading rather than straight ahead. I will turn right to bring the car back toward the center of my view before continuing to close in on it.", + "The gray car parked along the far curb is clearly in sight ahead and slightly to my left, with open road between us. I will walk forward to close that gap since nothing blocks the paved stretch in front of me.", + "The gray car now appears larger and lower in my sight, so my previous step genuinely reduced the distance. I will keep walking forward along this clear asphalt toward it.", + "The parked gray car is close enough now that I can make out its wheels and door lines, but I am still out in the roadway some distance from it. Another forward step should bring me nearer to its side.", + "The gray car fills much more of my forward sight and sits just to my left front, so I am closing steadily. I will continue advancing to shorten the remaining distance.", + "As I have drawn near, the gray car has drifted well over to my left and its rear is already at the edge of what I can see, so walking straight would carry me past it. I will turn left to bring the car back in front of me before continuing.", + "The gray car is now squarely centered ahead of me with its full side profile in view. I will step forward to close the last part of the distance to it.", + "The car's flank now spans most of my forward view, so only a short gap remains. I will advance again to stand right beside it.", + "I am almost against the gray car, with its doors and window pillar filling nearly everything in front of me. One more short step forward should place me directly at the vehicle.", + "The gray car's side windows and door pillar fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000926_y001355_z000165_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000926_y001355_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..982d7539671f798976adc30060c5e78eb558cff3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000926_y001355_z000165_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk along the covered porch to the dark grid-window door and open it.", + "Type": 4, + "Start_Pose": [ + -925.533, + 1354.623, + 165.15, + 0.0, + 123.518, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -925.533, + 1354.623, + 165.15, + 0.0, + 123.518, + 0.0 + ], + [ + -925.533, + 1354.623, + 165.15, + 0.0, + 148.518, + -0.0 + ], + [ + -1032.866, + 1420.35, + 165.15, + 0.0, + 148.518, + -0.0 + ], + [ + -1140.199, + 1486.078, + 165.15, + 0.0, + 148.518, + -0.0 + ], + [ + -1247.532, + 1551.805, + 165.15, + 0.0, + 148.518, + -0.0 + ], + [ + -1349.725, + 1554.42, + 165.15, + 0.0, + 148.518, + -0.0 + ], + [ + -1349.725, + 1554.42, + 165.15, + 0.0, + 148.518, + -0.0 + ], + [ + -1349.725, + 1554.42, + 165.15, + 0.0, + 148.518, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark grid-window door sits ahead along the covered porch, but my current heading points partly into the siding and the big window rather than down the open decking. I will turn right to swing my view along the porch walkway so the door and a clear path toward it line up in front of me.", + "The porch decking now runs clear ahead of me with the dark grid-window door standing along the wall to my left front. Nothing blocks the boards between me and it, so I will move forward to close the distance.", + "The grid-window door is noticeably larger in front of me, though still too far for me to reach its handle. The deck ahead remains clear of the chairs on the right, so I will continue forward.", + "I am close to the doorway now, with the paneled grid-window door filling much of my left view and its knob still a step or two away. I will advance again to bring the handle within arm's reach.", + "The dark door is right beside me, but its knob is still slightly ahead of my shoulder rather than squarely within reach. A short forward step should place me directly at the handle for the opening attempt.", + "The brass knob of the dark grid-window door is directly beside me, filling the near left of my view at arm's reach. I am aligned with the closed door, so I will try to open it now.", + "I see the doorway now standing open beside me, revealing the lit interior hallway and cabinet. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001009_y002291_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001009_y002291_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c96a0149fab02ea5b4510ead361ca957f20b7d7d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001009_y002291_z000168_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Open the dark grid-window door at the far end of the kitchen, just left of the dining table.", + "Type": 4, + "Start_Pose": [ + -1009.426, + 2290.617, + 168.15, + 0.0, + -82.855, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1009.426, + 2290.617, + 168.15, + 0.0, + -82.855, + 0.0 + ], + [ + -993.772, + 2165.735, + 168.15, + 0.0, + -82.855, + 0.0 + ], + [ + -993.772, + 2165.735, + 168.15, + 0.0, + -107.855, + 0.0 + ], + [ + -1032.361, + 2045.938, + 168.15, + 0.0, + -107.855, + 0.0 + ], + [ + -1032.361, + 2045.938, + 168.15, + 0.0, + -132.855, + 0.0 + ], + [ + -1117.964, + 1953.674, + 168.15, + 0.0, + -132.855, + 0.0 + ], + [ + -1203.566, + 1861.409, + 168.15, + 0.0, + -132.855, + 0.0 + ], + [ + -1289.168, + 1769.145, + 168.15, + 0.0, + -132.855, + 0.0 + ], + [ + -1289.168, + 1769.145, + 168.15, + 0.0, + -107.855, + 0.0 + ], + [ + -1328.545, + 1650.225, + 168.15, + 0.0, + -107.855, + 0.0 + ], + [ + -1328.545, + 1650.225, + 168.15, + 0.0, + -107.855, + 0.0 + ], + [ + -1328.545, + 1650.225, + 168.15, + 0.0, + -107.855, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the kitchen aisle I can see the dark grid-window door at the far end of the room, past the dining table on the left side. Nothing blocks the open floor between the counters, so I will move forward to close that distance before worrying about heading.", + "After advancing along the counters, the target door sits well to the left of my heading while the cabinets and stove fill the right of my view. I will turn left to bring the door and the dining area toward the center of my view so my next steps head toward it.", + "The dark door with the grid window and the dining table beside it are now in the left half of my view with open floor between us. I will move forward to enter the dining area and shorten the remaining distance to the door.", + "I am now in the dining area, but the target door still lies left of my heading while the table and window occupy the middle and right of my view. Turning left should place the door closer to straight ahead and keep my path clear of the table and chairs.", + "The dark grid-window door is now roughly ahead of me with only open floor between us, the table set off to the right. I will step forward to keep closing on the door.", + "The doorway and its sidelight are noticeably larger ahead of me, but I am still several steps back from arm's reach of the handle. I will continue forward to get close enough for an interaction.", + "The dark door with its nine-pane window and brass handle is clearly visible just ahead and slightly right, with the cabinet unit safely off to my left. One more step forward should put me within reach of the handle.", + "I am now close to the door, but it has drifted to the right side of my view and I am facing partly at the blank wall and cabinets. Turning right should square me with the door face and its handle for the opening attempt.", + "The dark grid-window door now fills the center of my view with its brass knob clearly visible and the floor ahead is clear. I am still a step short of comfortable reach, so I will move forward to close that last gap before attempting the handle.", + "The door's grid panes and lower sill now fill my whole view, which means I am standing directly against the target door at the far end of the kitchen. This is close enough to reach the latch, so I will try to open it.", + "The doorway now stands clear with the porch and yard visible straight through it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001041_y001942_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001041_y001942_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6be76c533def22c9bc3948f9537afc06b17fafd5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001041_y001942_z000168_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Turn away from the kitchen windows, locate a door, and open it.", + "Type": 4, + "Start_Pose": [ + -1040.794, + 1941.583, + 168.15, + 0.0, + -66.351, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1040.794, + 1941.583, + 168.15, + 0.0, + -66.351, + 0.0 + ], + [ + -1040.794, + 1941.583, + 168.15, + 0.0, + -91.351, + 0.0 + ], + [ + -1040.794, + 1941.583, + 168.15, + 0.0, + -116.351, + 0.0 + ], + [ + -1040.794, + 1941.583, + 168.15, + 0.0, + -141.351, + 0.0 + ], + [ + -1139.088, + 1862.978, + 168.15, + 0.0, + -141.351, + 0.0 + ], + [ + -1237.382, + 1784.373, + 168.171, + 0.0, + -141.351, + 0.0 + ], + [ + -1335.677, + 1705.768, + 168.171, + 0.0, + -141.351, + 0.0 + ], + [ + -1335.677, + 1705.768, + 168.171, + 0.0, + -116.351, + 0.0 + ], + [ + -1335.677, + 1705.768, + 168.171, + 0.0, + -91.351, + 0.0 + ], + [ + -1335.677, + 1705.768, + 168.171, + 0.0, + -91.351, + 0.0 + ], + [ + -1338.223, + 1645.676, + 168.15, + 0.0, + -91.351, + 0.0 + ], + [ + -1338.223, + 1645.676, + 168.15, + 0.0, + -91.351, + 0.0 + ], + [ + -1338.223, + 1645.676, + 168.15, + 0.0, + -91.351, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing straight down the kitchen counter with the bright windows filling the left side of my view, and no door is visible from this heading. The task tells me to turn away from these windows, so I will pivot left to begin sweeping the open part of the room for a door.", + "The counter has now dropped to my right and I can see the dining table and another window bay ahead, with what looks like a bright glazed opening just entering the far left edge of my view. I will keep turning left to bring that possible doorway properly into view instead of staying pointed at the window wall.", + "A dark wood door with glass panes is now clearly visible on the left side of my view, past the end of the dining table, with tall white cabinets beyond it. Turning left once more should bring that door closer to the centre of my heading so I can approach it in a straight line.", + "The panelled door is now roughly ahead of me, slightly right of centre, and the wooden floor between me and it looks clear of furniture. I will move forward to close the distance before I try the handle.", + "The door has grown noticeably larger and I can now make out its brass knob and the porch light through the sidelight, but I am still several steps short of reaching for it. I will advance again to get within arm's reach of the handle.", + "The dark paneled door with its glass upper light is now clearly ahead on my right, well away from the kitchen windows I was told to turn from. I am still a stride or so short of it, so I will move forward again to close that remaining gap and bring the handle within reach.", + "Advancing has brought me right up beside the doorway, and now only the door's left edge and brass knob sit at the right side of my view while the blank wall fills the center. I will turn right to swing my heading onto the door face so the knob comes into a workable, central position.", + "The door is coming into frame, but its knob and glazed panel still sit off to the right of center with the wall still occupying the left half. One more turn to the right should square me up with the door face before I try the handle.", + "I am now squared up on the door, with its glass light and brass knob filling my view and the porch railing visible past the frame on the right. This is the door the task asked me to find, so I will try to open it from here.", + "My attempt at the handle left the door exactly as it was, still shut with the same glass panel and knob in front of me, so I was likely not close enough for the interaction to register. I will step forward to press right up against the door and reduce that reach gap before trying again.", + "My earlier attempt from a step back left the door still shut, so I closed the remaining gap and the dark door panel now fills my view at contact range. From this distance the latch should be within reach, so I will try the opening interaction again.", + "The doorway now stands open onto the porch and front yard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001066_y000840_z000120_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001066_y000840_z000120_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c071daac35e61e87f53a17c064e833bfeb1d6d9e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001066_y000840_z000120_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the area and navigate to the mailbox.", + "Type": 1, + "Start_Pose": [ + -1065.849, + 839.563, + 119.682, + -0.301, + 137.307, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1065.849, + 839.563, + 119.682, + -0.301, + 137.307, + -0.0 + ], + [ + -1065.849, + 839.563, + 119.682, + -0.301, + 162.307, + 0.0 + ], + [ + -1065.849, + 839.563, + 119.682, + -0.301, + -172.693, + 0.0 + ], + [ + -1190.387, + 838.459, + 119.593, + -0.301, + -172.693, + 0.0 + ], + [ + -1314.914, + 838.431, + 128.283, + -0.301, + -172.693, + 0.0 + ], + [ + -1314.914, + 838.431, + 128.283, + -0.301, + -147.693, + 0.0 + ], + [ + -1422.388, + 778.556, + 115.634, + -0.301, + -147.693, + 0.0 + ], + [ + -1422.388, + 778.556, + 115.634, + -0.301, + -122.693, + 0.0 + ], + [ + -1490.368, + 672.638, + 113.933, + -0.301, + -122.693, + 0.0 + ], + [ + -1490.368, + 672.638, + 113.933, + -0.301, + -97.693, + 0.0 + ], + [ + -1507.216, + 547.913, + 119.409, + -0.301, + -97.693, + 0.0 + ], + [ + -1507.216, + 547.913, + 119.409, + -0.301, + -97.693, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see the covered porch, the flowering beds and the driveway of the house, with no mailbox anywhere in view. Mailboxes normally sit out by the street, so I will turn right to swing my heading away from the facade and toward the yard edge and roadway. This should open up the curbside area for inspection.", + "Rotating has brought a white picket fence, a paved walkway and the road with houses across it into the right part of my view, which is exactly the kind of frontage where a mailbox stands. I still cannot pick out a mailbox, so I will keep scanning in the same rightward direction. A little more rotation should place the sidewalk and curb line squarely ahead of me.", + "Now the paved walkway and the picket fence run out toward the road, and near the far end of the fence I can make out a slim wooden post standing in the grass strip by the curb, which looks like a mailbox support. That curbside strip is the most promising area, so I will walk forward along the walk to close distance and see it clearly. The path ahead looks open apart from the shrubs on my left.", + "Stepping ahead has confirmed the cue: a white mailbox on a wooden post is now clearly visible to my right, out past the fence on the grass strip beside the road. It is still a fair distance off, so I will continue walking forward along the open pavement to shorten the gap before turning toward it.", + "I have advanced far enough that the mailbox has slipped out to the right edge of my view while the sidewalk, trash bin and fence post dominate the center. I will turn right to bring the curbside mailbox back into the middle of my view and set a heading straight toward it.", + "The mailbox on its wooden post is now in my view on the right, standing in the grass strip between the sidewalk and the road, with the house across the street behind it. The paved sidewalk ahead is unobstructed, so I will walk forward to reduce the remaining distance to it.", + "After advancing along the walk the mailbox sits close but off to my right rather than in front of me, its post rising from the planting strip near the curb. I will turn right so my heading points more directly at it and I can approach it head on.", + "The mailbox and its wooden post are now roughly centered ahead of me at the edge of the grass strip beside the road. Only a short stretch of ground and low plants separate us, so I will step forward to close in on it.", + "The white mailbox on its wooden post now stands just a short distance ahead and slightly to my right, near the curb edge of the grass strip. I will turn right to bring it closer to the center of my heading so my remaining approach runs straight at it rather than drifting past it along the sidewalk.", + "The mailbox is now lined up with my heading, standing just a couple of paces ahead at the edge of the planted strip. I will step forward to close the last of that gap and bring myself right beside the post.", + "The mailbox with its raised red flag fills the near foreground directly at my side, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001111_y000027_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001111_y000027_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a49f2c63e49b61d86587188ab69aea04f8c7089 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001111_y000027_z000098_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the trash bin beside the mailbox.", + "Type": 0, + "Start_Pose": [ + -1111.279, + 26.61, + 98.15, + -0.301, + 147.233, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1111.279, + 26.61, + 98.15, + -0.301, + 147.233, + 0.0 + ], + [ + -1217.11, + 94.727, + 98.15, + -0.301, + 147.233, + -0.0 + ], + [ + -1217.11, + 94.727, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1341.812, + 111.736, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1466.515, + 128.745, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1591.217, + 145.754, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1715.92, + 162.763, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1715.92, + 162.763, + 98.15, + -0.301, + 147.233, + -0.0 + ], + [ + -1821.751, + 230.88, + 98.15, + -0.301, + 147.233, + -0.0 + ], + [ + -1927.581, + 298.997, + 98.15, + -0.301, + 147.233, + -0.0 + ], + [ + -1927.581, + 298.997, + 98.15, + -0.301, + 147.233, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can already see the grey wheeled trash bin standing at the left curb ahead, right next to the white mailbox on its wooden post. Nothing blocks the lane in front of me, so I will move forward to begin closing the gap to that bin.", + "The bin and mailbox are now closer on my left, but my heading points slightly across toward the fence and lawn rather than down the street. I will turn right to line up with the road's direction so my next forward steps run parallel to the curb toward the bin instead of veering into the yard.", + "My heading now runs straight down the street with the bin sitting just off my left front at the curb. The pavement ahead is clear, so I will move forward to reduce the remaining distance.", + "The bin has grown noticeably larger at the left curb, which confirms I am closing on it along this lane. I will continue forward since I am still several steps short of standing beside it.", + "The trash bin is now clearly resolved beside the utility pole on my left, but it is still ahead of my position rather than alongside me. Another forward step should bring me nearly level with it.", + "The bin fills a large part of my left foreground, so only a short remaining gap separates us. I will step forward once more to draw level with it before turning to face it directly.", + "The bin is now very close but sits at the far left edge of my view while I am still pointed down the street. I will turn left to bring it into the center of my heading so I can approach it head on.", + "The trash bin is now centered in front of me at the curb with the mailbox side of the yard just beyond it. I will move forward to close the last short gap and stand right beside it.", + "The trash bin now stands large and centered just ahead at the curb edge, but there is still a short gap between us. I will advance one more step to close that remaining distance and bring the bin within immediate reach.", + "The trash bin lid fills the near foreground directly in front of me, beside the mailbox curb strip. The task goal is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001111_y000027_z000098_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001111_y000027_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..022be2a83373b13b4421e981a9a2bdc54f748390 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001111_y000027_z000098_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the wicker basket near the trash bin.", + "Type": 5, + "Start_Pose": [ + -1111.279, + 26.61, + 98.15, + -0.301, + 147.233, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1903.101, + 295.583, + 35.15, + 90, + 167.233, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1111.279, + 26.61, + 98.15, + -0.301, + 147.233, + 0 + ], + [ + -1217.11, + 94.727, + 98.15, + -0.301, + 147.233, + -0.0 + ], + [ + -1322.94, + 162.844, + 98.15, + -0.301, + 147.233, + -0.0 + ], + [ + -1322.94, + 162.844, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1447.643, + 179.853, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1572.346, + 196.862, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1697.048, + 213.871, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1821.751, + 230.88, + 98.15, + -0.301, + 172.233, + -0.0 + ], + [ + -1821.751, + 230.88, + 98.15, + 0.0, + 172.233, + -0.0 + ], + [ + -1821.751, + 230.88, + 98.15, + 0.0, + 172.233, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1903.101, + 295.583, + 35.15, + 90.0, + 167.233, + 0.0 + ], + [ + -1824.032, + 209.639, + 68.256, + -28.202, + -137.623, + 1.862 + ], + [ + -1824.032, + 209.639, + 68.256, + -28.202, + -137.623, + 1.862 + ] + ], + "PD_Dist_2D": [ + 836.3, + 714.8, + 595.2, + 595.2, + 469.9, + 345.2, + 221.7, + 103.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the wicker basket leaning against the grey trash bin at the curb ahead on the left side of the street, but it is still far off. I will walk forward along the road to close that distance before worrying about fine alignment.", + "The basket and the bin beside it are noticeably larger now, so my heading down the street is carrying me toward them. I will keep walking forward since the gap is still too wide to reach out and grab anything.", + "The basket and bin now sit well off to the left edge of my view, which means my body is angled toward the sidewalk rather than along the street lane I need to follow. Turning right should square my heading with the road so my forward steps track cleanly toward the curbside target.", + "With my heading now set along the roadway, the basket and bin are held in the left portion of my view at a manageable angle. I will step forward to keep shrinking the remaining distance to the curb.", + "The wicker basket has grown considerably and its woven rim is now clearly readable next to the bin. I am still a few paces short of grabbing range, so I will continue walking forward.", + "The basket now fills a large part of the lower left of my view, so I am close to the curb where it rests. One more step forward should bring it near enough for a grasp attempt.", + "The basket and bin are drifting to my left edge and are very close, but the basket is not yet centered under me for a pick. I will take one more step forward to settle into reaching position beside it.", + "I am now standing right at the curb with the wicker basket immediately in front of me at the base of the trash bin, its rim just below my reach. This is close enough to attempt the grasp, so I will pick it up.", + "The wicker basket is now held in my hands, no longer resting by the trash bin. The task goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001235_y000116_z000098_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001235_y000116_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4cc96ebf42ef86357f98208e484f2220013244cd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001235_y000116_z000098_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the trash bag and go to it.", + "Type": 1, + "Start_Pose": [ + -1235.257, + 116.082, + 98.15, + -0.301, + 118.656, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1235.257, + 116.082, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1235.257, + 116.082, + 98.15, + -0.301, + 143.656, + 0.0 + ], + [ + -1235.257, + 116.082, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1358.655, + 140.838, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1482.054, + 165.594, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1605.452, + 190.35, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1728.851, + 215.106, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1852.249, + 239.862, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1975.648, + 264.618, + 98.15, + -0.301, + 168.656, + 0.0 + ], + [ + -1975.648, + 264.618, + 98.15, + -0.301, + 143.656, + 0.0 + ], + [ + -1975.648, + 264.618, + 98.15, + -0.301, + 143.656, + 0.0 + ], + [ + -1975.648, + 264.618, + 98.15, + -0.301, + 143.656, + 0.0 + ] + ], + "Rationale": [ + "From the roadside I am facing a fenced front yard and porch, and I see no trash bag anywhere in this view. I will turn right to begin a steady scan along the street, where curbside bins and bags are most likely to be set out.", + "Continuing the scan, I now see the roadway stretching ahead with a grey wheeled bin standing at the curb on this side of the street. That bin is a strong cue for a bag left beside it, so I will turn right once more to bring the road and the bin into my forward heading.", + "I am now lined up along the street with the grey bin on the left curb some distance ahead and clear pavement in front of me. I will walk forward to close that distance and check whether a trash bag is sitting beside it.", + "The bin at the left curb is noticeably larger in my view, so my heading down the street is good. I will keep stepping forward toward it since nothing blocks the road ahead.", + "The curbside bin is now clearly resolved just left of my path with a small pale object at its base. I will advance again to get near enough to identify anything set down beside it.", + "I am closing on the bin, which now fills a good part of the left side of my view, and I can make out its wheel against the curb. I will continue forward because the likely bag position beside it is still partly hidden behind the bin body.", + "The bin is very close on my left and I can now see a dark sack shape tucked at its base against the curb. I will step forward again to bring that object into reach and confirm it is the trash bag.", + "The bin and the dark bag beside it are right at the lower left edge of my view, so I am nearly beside them. I will take one more step forward to draw level with that spot on the curb.", + "I have walked up alongside the curbside bin, and it has slipped out of the left edge of my view so only empty sidewalk and street remain ahead. Since the dark sack I spotted resting against that bin sits just off my left shoulder now, I will turn left to bring the bin and the bag back into the center of my view.", + "The turn brought the bin back into view, but only its lid shows in the lower left corner, so anything sitting on the ground beside it is cut off below my sightline. I will look down to bring the base of the bin and the sack at the curb into view for confirmation.", + "The dark trash bag sits right against the bin at the curb, directly at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001283_y001874_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001283_y001874_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8039e67fe004b226407af8386f158aba140ead76 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001283_y001874_z000168_t4_a/infos.json @@ -0,0 +1,227 @@ +{ + "Instruction": "Turn away from the built-in wardrobe, find a door, and open it.", + "Type": 4, + "Start_Pose": [ + -1283.261, + 1874.157, + 168.15, + 0.0, + -179.038, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + -179.038, + 0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 155.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 130.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 105.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 80.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 55.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 30.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + 5.962, + -0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + -19.038, + 0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + -44.038, + 0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + -69.038, + 0.0 + ], + [ + -1283.261, + 1874.157, + 168.15, + 0.0, + -94.038, + 0.0 + ], + [ + -1292.124, + 1748.61, + 168.15, + 0.0, + -94.038, + 0.0 + ], + [ + -1302.567, + 1664.657, + 168.15, + 0.0, + -94.038, + 0.0 + ], + [ + -1302.567, + 1664.657, + 168.15, + 0.0, + -94.038, + 0.0 + ], + [ + -1302.567, + 1664.657, + 168.15, + 0.0, + -119.038, + 0.0 + ], + [ + -1364.412, + 1645.663, + 168.15, + 0.0, + -119.038, + 0.0 + ], + [ + -1364.412, + 1645.663, + 168.15, + 0.0, + -119.038, + 0.0 + ], + [ + -1364.412, + 1645.663, + 168.15, + 0.0, + -119.038, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The tall built-in wardrobe fills the right side of my view, so I am currently facing exactly what the task tells me to turn away from. I will rotate left to swing the wardrobe out of my heading and start sweeping the rest of the room for a real door I can open.", + "My first rotation brought a framed opening into view ahead on the left, but it is a bare passage with no door leaf or handle to operate. I will keep turning left to continue the sweep, since a hinged door should appear somewhere further around this room.", + "Continuing to rotate has revealed a living area with a fireplace and sofa on the left and the same doorless passage now off to the right. Nothing here is an operable door, so I will turn left again to bring the still unseen part of the room into view.", + "I am now looking across the sofa at the fireplace and the mounted screen, with only cabinetry showing at the far left edge. No hinged door has appeared yet in this arc, so I will continue rotating left to expose the remaining walls.", + "The rotation has opened up a kitchen area on the left with counters, appliances and cabinets, but still no door I can actually open. I will keep turning left, since an exterior door is more likely along the walls that are still outside my view.", + "I have my back to the built-in wardrobe now, but this heading only shows the fireplace, television and sofa, with kitchen cabinets creeping in at the left edge. No door is in view here, so I will keep rotating left to sweep the unexplored part of the room.", + "The view is now filled with kitchen counters, upper cabinets and a refrigerator, all fixed furnishings rather than a door. Continuing my leftward sweep should carry my gaze past this cabinet run toward whatever wall lies beyond it.", + "The long kitchen wall is still in front of me with cabinets and appliances, and only a table corner has appeared at the lower left. Since no door has come into view yet, I will turn left again to bring that further part of the room into sight.", + "A dining table and a large window looking onto a porch are now visible, which tells me I am facing an exterior wall where an outside door is plausible. I will keep turning left to inspect the rest of that wall for an actual door.", + "The window and dining table have shifted right, and a strip of white door trim is just entering the far left edge of my view. Another left turn should center that framed opening so I can confirm whether it is the door to approach.", + "Having swung away from the wardrobe side of the room, I can now see a real exterior door with a glazed upper panel at the far left edge of my view, still clipped by the frame. One more left turn should bring that doorway fully in front of me so I can head straight at it.", + "The door is now centered ahead of me, with its white frame, glass panes and sidelight fully in view and clear floor between us. I will move forward to close that gap and get within reach of the door.", + "I am much closer now, the door leaf and its brass knob fill the left of my view while the sidelight shows the porch outside. I will advance once more to be right at the leaf, close enough to work the door.", + "I am pressed right up against the dark door leaf, with its muntin bars and the pale jamb edge filling my view. From this contact distance I will try to open the door.", + "My attempt to open it just now left the door exactly as it was, still closed in front of me. I am aimed too far toward the jamb on the right, with the latch side out of sight, so I will turn left to face the leaf and its knob more squarely before trying again.", + "My previous attempt to open this door left it shut, and from here I can see the brass knob and latch plate sitting at the left edge of my view rather than centered in front of me. I will step forward to close the remaining gap and bring the handle squarely within reach. That tighter, better centered position should give the latch a valid interaction range.", + "The brass knob and its backplate now sit directly in front of me at arm's length, with the door stile and glazed panel filling the rest of my view. An earlier attempt on this door produced no change, but this closer, handle-centered stance is a much better grip position. I will try the open action again on the latch.", + "The doorway now stands open onto the covered porch and yard ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001289_y-002166_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001289_y-002166_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6c8bef7aa3d65897fc0351ea9a6de27938284fe --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001289_y-002166_z000168_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go towards the large bookshelf on the right.", + "Type": 2, + "Start_Pose": [ + -1289.401, + -2166.223, + 168.286, + -0.051, + 116.106, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1289.401, + -2166.223, + 168.286, + -0.051, + 116.106, + 0.0 + ], + [ + -1344.783, + -2053.204, + 168.859, + -0.051, + 116.106, + -0.0 + ], + [ + -1400.165, + -1940.185, + 168.859, + -0.051, + 116.106, + -0.0 + ], + [ + -1400.165, + -1940.185, + 168.859, + -0.051, + 141.106, + -0.0 + ], + [ + -1400.165, + -1940.185, + 168.859, + -0.051, + 166.106, + -0.0 + ], + [ + -1522.342, + -1909.963, + 168.307, + -0.051, + 166.106, + -0.0 + ], + [ + -1644.518, + -1879.741, + 168.307, + -0.051, + 166.106, + -0.0 + ], + [ + -1644.518, + -1879.741, + 168.307, + -0.051, + 166.106, + -0.0 + ] + ], + "Rationale": [ + "The tall white built-in bookcase packed with books stands along the wall to my right, partly hidden behind the square pillar at the room's edge. I will walk forward into the open floor so that pillar stops blocking it and I gain room to swing toward it.", + "The book-filled white bookcase now sits at the far right edge of my view, still well off to the side of my heading. I will step forward again into the living room so I am level with it before turning toward it.", + "I have advanced far enough that the bookcase has slid out past the right edge of my view, leaving only the sofa and windows ahead. I will turn right to bring that shelving unit back in front of me.", + "The white bookcase with its rows of books is back in view, but it sits off toward the right side rather than in front of me. I will turn right once more to put it squarely on my heading.", + "The book-laden white bookcase is now centered ahead of me with clear floor between us, the sofa well to my left. I will walk straight forward to close that distance.", + "The bookcase fills much of my view now, but there is still open floor before its cabinet base. I will take another step forward to stand right at it.", + "The shelves and their books fill my view at arm's length, with the cabinet top right before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001303_y-000110_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001303_y-000110_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b84167ccde1a07a24058981e72e88a050854d861 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001303_y-000110_z000098_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Proceed to the mailbox.", + "Type": 0, + "Start_Pose": [ + -1303.441, + -110.162, + 98.15, + -0.051, + 85.457, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1303.441, + -110.162, + 98.15, + -0.051, + 85.457, + 0.0 + ], + [ + -1303.441, + -110.162, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1347.429, + 7.76, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1391.418, + 125.681, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1435.406, + 243.603, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1479.394, + 361.525, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1479.394, + 361.525, + 98.15, + -0.051, + 135.457, + -0.0 + ], + [ + -1535.431, + 402.219, + 108.849, + -0.051, + 135.457, + -0.0 + ], + [ + -1535.431, + 402.219, + 108.849, + -0.051, + 135.457, + -0.0 + ] + ], + "Rationale": [ + "From the street I can see the white mailbox on its wooden post standing at the right end of the picket fence, off to the right of my current heading. I will turn right so that the mailbox moves toward the center of my view before I start closing the distance.", + "The mailbox now sits ahead of me near the fence line, with open road and grass verge between us. I will move forward along this heading to begin closing that distance.", + "The mailbox has grown larger and stays roughly in front of me, so my heading is still serviceable. I will continue forward since no fence or shrub blocks the path across the verge yet.", + "The post and box are clearly resolved now, with the sidewalk and flowering shrub below them, but I am still several steps short of standing beside it. Another forward step should bring me close to the mailbox.", + "The lettering on the mailbox is readable and it fills a good part of my right-forward view, so only a short gap remains. I will step forward again to reach a position right at the post.", + "I am nearly at the mailbox, but it has drifted to the right edge of my view as I closed in, so my heading is now angled past it. I will turn right to square up on the box before the last short step.", + "The mailbox is now centered and very close, with its post and the surrounding shrub filling the lower view. One short forward step should place me directly at the mailbox.", + "The mailbox is directly beside me, filling the near left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001323_y000217_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001323_y000217_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f5dab530e920240c3406494ce29d15785a9349b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001323_y000217_z000098_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "First go to the gray car, then move to the place where the white picket fence meets the green hedge.", + "Type": 3, + "Start_Pose": [ + -1323.368, + 217.014, + 98.15, + -0.051, + -115.303, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1323.368, + 217.014, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1377.161, + 103.23, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1377.161, + 103.23, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1377.826, + -22.627, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1378.492, + -148.484, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1379.158, + -274.342, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1379.823, + -400.199, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1380.489, + -526.056, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1380.489, + -526.056, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1380.489, + -526.056, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1438.419, + -635.154, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1492.212, + -748.938, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1546.005, + -862.722, + 112.248, + -0.051, + -115.303, + -0.0 + ], + [ + -1599.797, + -976.506, + 121.9, + -0.051, + -115.303, + -0.0 + ], + [ + -1599.797, + -976.506, + 121.9, + -0.051, + -90.303, + -0.0 + ], + [ + -1600.463, + -1102.363, + 113.209, + -0.051, + -90.303, + -0.0 + ], + [ + -1600.463, + -1102.363, + 113.209, + -0.051, + -115.303, + 0.0 + ], + [ + -1600.463, + -1102.363, + 113.209, + -0.051, + -115.303, + 0.0 + ] + ], + "Rationale": [ + "The dark gray car sits parked at the far curb on my right, beyond the width of the road. I am still on the near side of the pavement, so I will walk forward to cut down that distance before turning toward it.", + "The gray car sits off to my right edge while my heading points straight across at the porch and fence. Turning right should swing the car toward the middle of my view so a straight walk carries me to it.", + "The gray car now sits centered ahead of me across the roadway, its whole side profile visible. With the lane clear between us, I will step forward to close on it.", + "The car has grown larger and stays squarely ahead, so my heading is good. There is still open asphalt between me and it, so I keep walking forward.", + "The car's body now spans much of the view and the curb behind it is coming into detail, yet I am not beside it yet. Another step forward should bring me nearer without any change of heading.", + "I can pick out the wheels and door seams of the gray car, so only a short gap of roadway remains. I will advance again to stand right at it.", + "The rear quarter of the gray car fills the right of my view and the curb edge is close beneath it. One more step should place me directly alongside the vehicle.", + "The gray car's rear panel and taillight loom right beside me, close enough to touch, with the curb at my feet. I am standing at the gray car. I mark reaching it, and now I turn my attention to the spot where the white picket fence runs up against the green hedge along the yard.", + "I am standing right at the gray car's rear bumper, so my remaining destination is the yard corner where the white picket fence runs into the green hedge, off to my left. The car body fills the right of my view and blocks any useful line that way. I will turn left to bring the fence and hedge line in front of me.", + "The turn cleared the car from my path and the white picket fence now stretches ahead with the green hedge continuing to its right. The point where the two lines meet is still well down the yard. I will walk forward to close that distance.", + "The fence pickets and the hedge top are noticeably larger now, with the seam between them sitting roughly ahead of me. Nothing blocks the grass and paving strip in my path. I will keep walking forward toward that seam.", + "I can now clearly see the white pickets ending and the dense green hedge taking over just right of center. I am still a few paces short of standing at that junction. Another step forward should bring me close alongside it.", + "The fence and the hedge are close enough that I can read individual pickets and leaves, and their meeting point is nearly within reach ahead. I have not yet arrived beside it. I will advance once more to draw level with the corner.", + "I am beside the fence line now, and the hedge that continues from it runs off to my right along the house front. The paved walk on that side is the open lane for my last approach. I will turn right to face along the hedge before stepping in.", + "Facing along the hedge, the last white pickets sit at the left of my view with the clipped green wall running from them. I am still slightly back from that junction. I will step forward to stand right at it.", + "The hedge now fills nearly the whole view and the fence has slipped to the far left edge, so I am standing right where the two meet but not squarely facing the seam. Turning left should place the last picket post and the start of the hedge together in front of me.", + "The white picket fence ends at a post right where the green hedge begins, directly in front of me. I am at that junction, so the task is complete." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001323_y000217_z000098_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001323_y000217_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a2fc83dc4a5687be733626294228f3cd0a842212 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001323_y000217_z000098_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the jerry can at the gray car, then place it near the junction of the white picket fence and the green hedge.", + "Type": 5, + "Start_Pose": [ + -1323.368, + 217.014, + 98.15, + -0.051, + -115.303, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1454.817, + -681.405, + 8.15, + 0, + -30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1323.368, + 217.014, + 98.15, + -0.051, + -115.303, + 0 + ], + [ + -1377.161, + 103.23, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1430.954, + -10.554, + 98.15, + -0.051, + -115.303, + -0.0 + ], + [ + -1430.954, + -10.554, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1431.619, + -136.411, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1432.285, + -262.269, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1432.95, + -388.126, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1433.616, + -513.983, + 98.15, + -0.051, + -90.303, + -0.0 + ], + [ + -1433.616, + -513.983, + 98.15, + 0.0, + -90.303, + 0.0 + ], + [ + -1439.36, + -637.218, + 98.15, + 0.0, + -90.303, + 0.0 + ], + [ + -1456.97, + -754.012, + 98.15, + 0.0, + -90.303, + 0.0 + ], + [ + -1456.97, + -754.012, + 98.15, + 0.0, + -115.303, + 0.0 + ], + [ + -1510.763, + -867.796, + 112.847, + 0.0, + -115.303, + 0.0 + ], + [ + -1564.556, + -981.58, + 121.235, + 0.0, + -115.303, + 0.0 + ], + [ + -1618.349, + -1095.364, + 113.014, + 0.0, + -115.303, + 0.0 + ], + [ + -1661.299, + -1196.688, + 113.215, + 0.0, + -115.303, + 0.0 + ], + [ + -1630.526, + -1131.596, + 113.215, + 0.0, + -115.303, + 0.0 + ], + [ + -1630.526, + -1131.596, + 113.215, + 0.0, + -115.303, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1454.817, + -681.405, + 8.15, + 0.0, + -30.0, + 0.0 + ], + [ + -1412.259, + -513.486, + 68.256, + -28.202, + -40.159, + 1.862 + ], + [ + -1418.005, + -637.012, + 67.706, + -28.199, + -40.151, + 1.864 + ], + [ + -1435.615, + -753.738, + 67.85, + -28.207, + -40.162, + 1.853 + ], + [ + -1438.339, + -762.09, + 68.69, + -28.207, + -65.169, + 1.861 + ], + [ + -1491.216, + -876.418, + 81.337, + -28.187, + -65.15, + 1.875 + ], + [ + -1545.105, + -990.403, + 90.316, + -28.199, + -65.159, + 1.861 + ], + [ + -1598.908, + -1104.196, + 82.801, + -28.21, + -65.167, + 1.853 + ], + [ + -1641.644, + -1205.084, + 83.582, + -28.191, + -65.147, + 1.87 + ], + [ + -1660.444, + -1194.88, + 63.215, + 0.0, + -115.303, + 0.0 + ], + [ + -1660.444, + -1194.88, + 63.215, + 0.0, + -115.303, + 0.0 + ] + ], + "PD_Dist_2D": [ + 908.0, + 788.5, + 671.3, + 671.3, + 545.5, + 419.7, + 294.1, + 168.8, + 21.4, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The gray car sits across the road ahead on my right, with the reddish jerry can standing just beside its front end. That target is far too distant to reach or grasp from here, so I will step forward across the open pavement toward it.", + "The car and the jerry can beside it now appear noticeably larger, confirming my forward heading is closing the gap. There is still clear road ahead and no obstruction, so I will keep walking to shorten the remaining distance to the can.", + "The jerry can and the gray car have drifted toward the right edge of my view while my heading points along the street rather than at them. Turning right should bring the can into the center of my path so a straight approach reaches it.", + "After the turn, the gray car and the jerry can beside its rear wheel sit squarely ahead of me. The way across the remaining road is clear, so I will advance straight toward the can.", + "The jerry can now stands clearly on the pavement just left of the car's rear bumper and is growing with each step. My heading still points at it, so I will continue forward rather than adjust direction.", + "The can is close enough now that I can see its handle and paneling near the car's back wheel, but it is still beyond arm's reach. I will take another step forward to bring it within grasping range.", + "The jerry can fills much of the lower part of my view beside the car's tail light, yet it sits slightly ahead of where I could reach it. One more forward step should place me directly over it for a grasp.", + "The jerry can is now immediately in front of me at the edge of the gray car, close enough that no further stepping is needed. My hands are empty, so I will attempt to grasp it and lift it for transport.", + "The pick worked: the jerry can is now in my hands and no longer standing on the pavement beside the gray car. With the can secured, the delivery spot is the place where the white picket fence meets the green hedge along the yard ahead. I will step forward to begin carrying it that way.", + "I still carry the jerry can as I face the yard, with the white picket fence on the left and the green hedge running across in front of the house. The junction between them is still some distance ahead, past the grass strip and walkway. Another step forward should close that gap.", + "The hedge now fills the middle of my view while the picket fence continues off to my left, so the seam where the two meet sits left of my heading. Walking straight would carry me along the hedge instead of to that seam. I will turn left to point at the junction.", + "After the turn, the white pickets and the end of the green hedge are both framed ahead of me, with their meeting point near the center of my view. The can is still in hand and the junction is several strides away across the walkway. I will move forward toward it.", + "The fence line and the hedge end are noticeably larger now, but I am still standing back on the paving, too far to set the can right at their meeting point. My heading remains lined up with that seam. Another step forward should bring me close enough.", + "The pickets on the left and the dense hedge on the right now dominate my view, and their junction is just ahead of me. I am not yet standing beside it, so placing the can here would leave it short of the mark. I will advance one more step.", + "I am nearly at the corner where the white pickets end and the leafy hedge begins, with the hedge foliage filling the right side of my view. A final short step should put me directly at that junction so the can can be set down there. I will step forward.", + "I am standing right where the white picket fence ends against the green hedge, with the fence rail beside me and the hedge leaves at arm's length. The jerry can is still in my hands and this is the spot the task names. I will release it here so it comes to rest at the junction.", + "The jerry can now rests on the ground where the white picket fence meets the green hedge, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001341_y-000077_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001341_y-000077_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3749f53c392b09b0c04af6940c695c8639efb5ed --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001341_y-000077_z000098_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "First, walk to the mailbox, then proceed to the trash bin.", + "Type": 3, + "Start_Pose": [ + -1341.146, + -76.98, + 98.15, + -0.301, + 118.656, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1341.146, + -76.98, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1401.501, + 33.462, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1461.856, + 143.903, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1522.21, + 254.345, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1522.21, + 254.345, + 98.15, + -0.301, + 93.656, + 0.0 + ], + [ + -1530.236, + 379.946, + 101.995, + -0.301, + 93.656, + 0.0 + ], + [ + -1530.236, + 379.946, + 101.995, + -0.301, + 93.656, + 0.0 + ], + [ + -1530.236, + 379.946, + 101.995, + -0.301, + 118.656, + 0.0 + ], + [ + -1530.236, + 379.946, + 101.995, + -0.301, + 143.656, + 0.0 + ], + [ + -1530.236, + 379.946, + 101.995, + -0.301, + 168.656, + 0.0 + ], + [ + -1653.634, + 404.702, + 108.776, + -0.301, + 168.656, + 0.0 + ], + [ + -1777.033, + 429.458, + 110.728, + -0.301, + 168.656, + 0.0 + ], + [ + -1777.033, + 429.458, + 110.728, + -0.301, + -166.344, + 0.0 + ], + [ + -1899.332, + 399.744, + 108.721, + -0.301, + -166.344, + 0.0 + ], + [ + -1899.332, + 399.744, + 108.721, + -0.301, + -166.344, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see the white mailbox on its post at the edge of the front lawn, with the grey wheeled bin further along the curb beyond it. The mailbox is the closer of my two destinations, so I will walk forward to begin closing the gap toward it.", + "The mailbox has grown larger and sits slightly right of my heading, so I am still too far away to count as being at it. I will keep walking forward to shorten the remaining distance.", + "The lettered mailbox now stands clearly ahead of me above the shrubs, but there is still a stretch of curb between us. Another step forward should bring me close alongside it.", + "The mailbox is close now but sits off to my left, hard against the edge of my view with the planting crowding it. Turning left should place it squarely in front of me so I can walk straight up to it.", + "With the turn done, the mailbox is centered ahead of me over the low bushes and the front walkway lines up behind it. One more step forward should put me right beside the post.", + "The lettered mailbox now fills the right side of my view at arm's reach on its wooden post. I have arrived at the mailbox, so I mark reaching it before setting off along the curb toward the grey wheeled trash bin.", + "Standing at the mailbox, my view is filled by its face and the house behind it, while the curb toward the trash bin runs off to my right. I will turn right to begin swinging my heading back along the street.", + "The mailbox has slid toward the middle-left of my view, but I am still facing across the yard rather than down the curb. Another right turn should bring the roadside stretch where the bin stands into view.", + "The mailbox has slid to the far left edge of my view and the grey wheeled trash bin is now visible ahead on the right, standing at the curb. One more turn to the right should place that bin closer to the center of my heading before I start walking.", + "The trash bin now sits near the middle of my view, down the curb line ahead of me with a clear strip of grass and pavement between us. I will walk forward to cut that distance.", + "The bin has grown noticeably larger and its lid and wheel are clearly resolved just right of my path, so my heading is still good. Another step forward should bring me nearly alongside it.", + "The bin is close now but sits low on the right side of my view, slightly off my forward line. Turning right should square me up with it so my next step closes the gap directly.", + "The bin is centered in front of me at the curb, only a short gap away. I will step forward to stand right at it.", + "The trash bin fills the near view directly in front of me at arm's reach. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001341_y-000077_z000098_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001341_y-000077_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9fac0975253cf95a441a84dd20bc96e195cd618 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001341_y-000077_z000098_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Grab the wicker basket from the mailbox, then drop it near the trash bin.", + "Type": 5, + "Start_Pose": [ + -1341.146, + -76.98, + 98.15, + -0.301, + 118.656, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1510.6, + 522.392, + 48.15, + 90, + 98.656, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1341.146, + -76.98, + 98.15, + -0.301, + 118.656, + 0 + ], + [ + -1401.501, + 33.462, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1461.856, + 143.903, + 98.15, + -0.301, + 118.656, + 0.0 + ], + [ + -1461.856, + 143.903, + 98.15, + -0.301, + 93.656, + 0.0 + ], + [ + -1469.881, + 269.504, + 98.15, + -0.301, + 93.656, + 0.0 + ], + [ + -1477.906, + 395.105, + 108.117, + -0.301, + 93.656, + 0.0 + ], + [ + -1477.906, + 395.105, + 108.117, + 0.0, + 93.656, + -0.0 + ], + [ + -1477.906, + 395.105, + 108.117, + 0.0, + 118.656, + -0.0 + ], + [ + -1477.906, + 395.105, + 108.117, + 0.0, + 143.656, + -0.0 + ], + [ + -1477.906, + 395.105, + 108.117, + 0.0, + 168.656, + -0.0 + ], + [ + -1595.164, + 401.787, + 108.692, + 0.0, + 168.656, + -0.0 + ], + [ + -1595.164, + 401.787, + 108.692, + 0.0, + -166.344, + 0.0 + ], + [ + -1717.465, + 372.074, + 98.15, + 0.0, + -166.344, + 0.0 + ], + [ + -1839.766, + 342.36, + 98.15, + 0.0, + -166.344, + 0.0 + ], + [ + -1839.766, + 342.36, + 98.15, + 0.0, + 168.656, + -0.0 + ], + [ + -1935.563, + 366.777, + 98.15, + 0.0, + 168.656, + -0.0 + ], + [ + -1864.97, + 352.614, + 98.15, + 0.0, + 168.656, + -0.0 + ], + [ + -1864.97, + 352.614, + 98.15, + 0.0, + 168.656, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1510.6, + 522.392, + 48.15, + 90.0, + 98.656, + 0.0 + ], + [ + -1510.6, + 522.392, + 48.15, + 90.0, + 98.656, + 0.0 + ], + [ + -1510.6, + 522.392, + 48.15, + 90.0, + 98.656, + 0.0 + ], + [ + -1510.6, + 522.392, + 48.15, + 90.0, + 98.656, + 0.0 + ], + [ + -1510.6, + 522.392, + 48.15, + 90.0, + 98.656, + 0.0 + ], + [ + -1510.6, + 522.392, + 48.15, + 90.0, + 98.656, + 0.0 + ], + [ + -1499.178, + 393.135, + 68.256, + -28.202, + 143.8, + 1.862 + ], + [ + -1497.19, + 383.864, + 68.529, + -28.189, + 168.812, + 1.872 + ], + [ + -1491.378, + 377.054, + 67.862, + -28.215, + -166.217, + 1.849 + ], + [ + -1488.488, + 370.156, + 67.916, + -14.092, + -149.001, + 6.87 + ], + [ + -1598.814, + 380.737, + 68.178, + -28.194, + -141.198, + 1.866 + ], + [ + -1589.242, + 380.238, + 68.584, + -28.2, + -116.202, + 1.861 + ], + [ + -1711.407, + 351.576, + 68.862, + -28.207, + -116.204, + 1.861 + ], + [ + -1833.814, + 321.828, + 68.806, + -28.19, + -116.189, + 1.875 + ], + [ + -1843.523, + 322.045, + 67.991, + -28.207, + -141.208, + 1.854 + ], + [ + -1938.787, + 345.642, + 68.804, + -28.193, + -141.195, + 1.873 + ], + [ + -1933.602, + 366.383, + 63.15, + 90.0, + 168.656, + 0.0 + ], + [ + -1933.602, + 366.383, + 63.15, + 90.0, + 168.656, + 0.0 + ] + ], + "PD_Dist_2D": [ + 622.9, + 501.0, + 381.6, + 381.6, + 256.1, + 131.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.3, + 21.4, + 21.4, + 20.7, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task target, a round wicker basket, sits in the front yard beside the mailbox post ahead and to my left, still far across the street. I will walk forward to close that gap before worrying about fine alignment.", + "The mailbox and the wicker basket beside it have grown noticeably larger, so my previous step clearly reduced the distance. Nothing blocks the path across the roadway, so I continue walking straight to get within reach of the yard.", + "The mailbox post and the wicker basket now sit left of my heading, so walking straight would carry me past them along the curb. I will turn left to place the basket near the center of my view before advancing again.", + "After the turn the mailbox and the wicker basket are centered ahead of me across the grass strip. I will step forward along the walkway to shorten the remaining distance to the basket.", + "The mailbox now looms at the right edge and the wicker basket fills the lower center, confirming I am closing on it directly. One more forward step should bring the basket within grasping range.", + "The wicker basket is directly in front of me at the base of the mailbox post, close enough that its rim dominates the bottom of my view. I will attempt to pick it up now so I can carry it toward the trash bin.", + "The grasp worked, and the wicker basket is now held in my hands rather than resting by the mailbox. The trash bin stands out at the curb behind my right shoulder, so I will turn right to begin swinging my heading back toward the street.", + "I am still facing the house and porch with the mailbox filling the right side, so the curb where the trash bin stands remains outside my view. I will turn right again to keep rotating toward the street side with the basket in hand.", + "The wicker basket is in my hands, so the mailbox behind me no longer matters. Swinging right again pushes the mailbox post toward the edge of my view and brings the curbside trash bin down the street into sight, which is where the basket has to go.", + "The trash bin now stands clearly ahead on the curb strip, with open sidewalk and grass between us. Carrying the basket, I step forward along this line to close that gap.", + "The bin sits slightly right of my heading, with the utility pole and grass verge filling the centre of my view. A short turn to the right should put the bin closer to straight ahead so my next steps track directly toward it.", + "The bin is now near the middle of my view along the curb with nothing blocking the path. I walk forward to shorten the remaining distance before setting the basket down.", + "The bin has grown much larger just left of centre, but I am still a couple of paces short of dropping range. Another step forward should bring me right alongside it.", + "The bin has slid to my lower left as I closed in, leaving the open roadway straight ahead. Turning left should recentre the bin so I finish facing the spot where the basket belongs.", + "The bin is squarely in front of me now, close against the curb. One more short step should place me right beside it, near enough to release the basket there.", + "I am pressed right up against the trash bin, its lid filling the lower part of my view. This is as near as the task requires, so I release the wicker basket here and expect it to settle beside the bin.", + "The wicker basket now rests on the ground right beside the trash bin, out of my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001351_y-002170_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001351_y-002170_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e00251d69f06a67a5324387a127d8c505db4a0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001351_y-002170_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the dining table.", + "Type": 0, + "Start_Pose": [ + -1351.277, + -2170.358, + 168.15, + -0.051, + 120.156, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1351.277, + -2170.358, + 168.15, + -0.051, + 120.156, + 0.0 + ], + [ + -1351.277, + -2170.358, + 168.15, + -0.051, + 95.156, + 0.0 + ], + [ + -1362.588, + -2045.008, + 168.79, + -0.051, + 95.156, + 0.0 + ], + [ + -1373.898, + -1919.659, + 168.79, + -0.051, + 95.156, + 0.0 + ], + [ + -1385.209, + -1794.309, + 168.79, + -0.051, + 95.156, + 0.0 + ], + [ + -1402.563, + -1694.922, + 168.943, + -0.051, + 95.156, + 0.0 + ], + [ + -1402.563, + -1694.922, + 168.943, + -0.051, + 70.156, + -0.0 + ], + [ + -1402.563, + -1694.922, + 168.943, + -0.051, + 70.156, + -0.0 + ] + ], + "Rationale": [ + "The dining table with its chairs and candlestick sits ahead in the window alcove, but it lies off to the left of my current heading, past the kitchen counter on my right. I will turn left so the table and the open floor runner line up more centrally ahead of me for a straight approach.", + "With the turn done, the dining table and its chairs now sit near the middle of my view at the far end of the runner, and the corridor between the kitchen units and the sofa is clear. I will move forward along the rug to start closing the distance to the table.", + "The table and its two chairs are noticeably larger and still framed ahead of me, so my heading remains good. The floor between me and the alcove is open, so I will continue forward to keep reducing the gap.", + "The round table now fills much of the lower center of my view with the window alcove behind it, yet I am still a couple of steps short of standing at it. I will step forward again to bring myself up to the table edge.", + "The tabletop and candlestick are close in front of me, with the nearest chairs just at the left edge of my view. One more short step forward should place me right at the dining table rather than a stride away.", + "I am now standing at the table, but its surface and candlestick have drifted to the lower left while the window and side cabinet dominate the center. I will turn left to bring the tabletop squarely in front of me.", + "The dining table with its candelabra and chairs is directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001356_y-001804_z000169_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001356_y-001804_z000169_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28c2e8984c4300214f3df4405ace8c32c948eab7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001356_y-001804_z000169_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the painting on the wall above the table on the right of your view.", + "Type": 2, + "Start_Pose": [ + -1355.661, + -1803.746, + 168.933, + -0.301, + -169.127, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1355.661, + -1803.746, + 168.933, + -0.301, + -169.127, + 0.0 + ], + [ + -1355.661, + -1803.746, + 168.933, + -0.301, + -144.127, + -0.0 + ], + [ + -1457.645, + -1877.497, + 168.15, + -0.301, + -144.127, + -0.0 + ], + [ + -1559.63, + -1951.248, + 168.15, + -0.301, + -144.127, + -0.0 + ], + [ + -1661.614, + -2024.999, + 168.15, + -0.301, + -144.127, + -0.0 + ], + [ + -1746.442, + -2097.737, + 168.149, + -0.301, + -144.127, + -0.0 + ], + [ + -1746.442, + -2097.737, + 168.149, + -0.301, + -119.127, + 0.0 + ], + [ + -1791.47, + -2198.78, + 168.709, + -0.301, + -119.127, + 0.0 + ], + [ + -1791.47, + -2198.78, + 168.709, + -0.301, + -119.127, + 0.0 + ], + [ + -1791.47, + -2198.78, + 168.709, + -0.301, + -119.127, + 0.0 + ] + ], + "Rationale": [ + "The painting I want is the long decorative panel hanging above the small white table in the alcove at the far right edge of my view, well off my current heading. Turning right should bring that table and the panel above it toward the center of my view so I can walk straight at them.", + "The console table and the framed panel above it now sit ahead of me beyond the open floor, past the bookshelf on my left. I will walk forward to close the distance across the room toward that alcove.", + "The painting above the small table is larger now and the striped runner leading to it is in clear view. Nothing blocks the floor between me and that alcove, so I keep walking forward.", + "The ornate panel above the console table reads clearly now, its pattern distinct from the plain wall around it. I am still several paces short, so I continue stepping forward along the runner toward it.", + "The painting and the table beneath it now fill the right side of my view, but a section of wall still hides part of the alcove ahead of me. One more step forward should bring me level with that table.", + "I am now beside the console table, and its decorative panel hangs high on the wall to my right while another, paler framed picture sits farther down the corridor. Turning right should square me up with the painting over the table rather than the one down the hall.", + "I am now facing the painting squarely, with the console table directly beneath it. A short step forward should place me right at the wall under that panel.", + "Standing this close to the wall, only the bottom edge of the painting shows at the top of my view while the table below is cut off at the bottom. Looking up should raise my gaze onto the full panel and confirm I am at it.", + "The floral panel above the console table fills my view at arm's length, its full frame visible. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001357_y-002113_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001357_y-002113_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff82e0acf97e6b191aca69dda18037e5ec40db68 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001357_y-002113_z000169_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search the area and go to the round dining table.", + "Type": 1, + "Start_Pose": [ + -1357.301, + -2112.884, + 168.758, + -0.051, + -114.471, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + -114.471, + 0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + -89.471, + -0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + -64.471, + -0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + -39.471, + -0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + -14.471, + 0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + 10.529, + 0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + 35.529, + -0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + 60.529, + -0.0 + ], + [ + -1357.301, + -2112.884, + 168.758, + -0.051, + 85.529, + 0.0 + ], + [ + -1347.49, + -1987.408, + 168.758, + -0.051, + 85.529, + 0.0 + ], + [ + -1337.678, + -1861.932, + 168.758, + -0.051, + 85.529, + 0.0 + ], + [ + -1337.678, + -1861.932, + 168.758, + -0.051, + 110.529, + 0.0 + ], + [ + -1381.815, + -1744.066, + 168.758, + -0.051, + 110.529, + 0.0 + ], + [ + -1381.815, + -1744.066, + 168.758, + -0.051, + 110.529, + 0.0 + ] + ], + "Rationale": [ + "I am facing a blind kitchen corner with countertop canisters and upper cabinets, so no round dining table is anywhere in this view. I will turn right to begin a steady scan in one consistent direction and open up the rest of the room.", + "The view now shows a long stretch of counter with drawer fronts and cabinets, still entirely kitchen work surface with no dining furniture. I will keep turning right to sweep further along this wall for an opening into a dining area.", + "A stack of plates and a glass sit on the counter ahead, which tells me I am still scanning the kitchen storage side rather than a dining spot. I will continue the same rightward rotation to reach the part of the room I have not inspected yet.", + "A sink and faucet have come into view under a lit cabinet, confirming this side is the kitchen counter run and not the dining zone. I will keep rotating right, since the kitchen layout suggests the room should open out somewhere further along.", + "The sink is now directly in front of me with plain wall above it, so there is still nothing resembling a dining table here. I will maintain the rightward sweep to bring the far end of the kitchen into view.", + "A cooktop, oven, and range hood are now ahead, marking the end of the appliance wall, and the right edge of my view looks slightly more open. I will continue turning right toward that brighter side in hope of finding the passage out of the kitchen.", + "Past the refrigerator and glass-front cabinets on the right I can see wood flooring, a console with a plant, and a louvered door, which reads as an adjoining room rather than more kitchen. I will keep turning right to bring that open space fully into view, since a round dining table is more likely there.", + "The adjoining room is now open ahead and I can see a round table with upholstered chairs set in front of the windows, slightly right of my center. I will turn right to line my heading up with that table before walking toward it.", + "Looking out of the kitchen along the runner, I can now see a round dining table with chairs set in front of the windows at the far end of the room. That matches the target, so I will step forward down the open floor to close the distance instead of scanning further.", + "The round table and its upholstered chairs are noticeably larger and centered ahead, confirming my heading is good. The path along the rug stays clear, so I will keep walking forward to get closer to it.", + "I am close to the round table, but it sits a little right of my heading with a chair back directly in my path. I will turn right to face the table's open side so my next step can bring me alongside it.", + "From this heading the round table stands clearly in the near left of my view with open floor between us. One more step forward should place me right at its edge.", + "The round dining table with its candelabra is directly beside me, filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001365_y-001973_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001365_y-001973_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e2d38eb20be0a2b2c02c330a24e3cf477d09d037 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001365_y-001973_z000169_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Find and go to the bookshelf.", + "Type": 1, + "Start_Pose": [ + -1364.793, + -1973.094, + 168.712, + -0.051, + -29.198, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + -29.198, + 0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + -4.198, + 0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 20.802, + -0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 45.802, + -0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 70.802, + 0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 95.802, + 0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 120.802, + -0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 145.802, + -0.0 + ], + [ + -1364.793, + -1973.094, + 168.712, + -0.051, + 170.802, + -0.0 + ], + [ + -1479.9, + -1943.222, + 168.15, + -0.051, + 170.802, + -0.0 + ], + [ + -1604.14, + -1923.103, + 168.15, + -0.051, + 170.802, + -0.0 + ], + [ + -1604.14, + -1923.103, + 168.15, + -0.051, + 170.802, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a kitchen facing counters, a sink, and the stove, with no bookshelf anywhere in view. Since the target is not here, I will begin a steady rightward scan to sweep the surrounding space for shelving or an opening into another room.", + "The rotation has only brought more kitchen into view, with the stove, range hood, and a refrigerator, still no bookshelf. I will keep turning right in the same direction to reach the edge of this kitchen and look for an adjoining room.", + "Past the refrigerator and the tall glass-front cabinets I can see a brighter area with a window, a small console table, and a plant, which suggests the kitchen opens into a living space on my right. Continuing the same rightward turn should reveal that room, where a bookshelf is more likely to stand.", + "The adjoining room is opening up ahead, with windows, curtains, a louvered cabinet, and part of a chair, but no shelves of books yet. I will continue rotating right to sweep deeper into this room.", + "I now see a dining table with chairs under the windows, a wardrobe, and a runner rug leading further right, still without any bookshelf. Keeping the same turn direction should carry my view past the dining area into the rest of the living space.", + "The room continues into a seating area with a large brown sofa, a television on a low cabinet, and a chandelier, but no shelving is in view yet. I will keep turning right, since the far wall beyond the sofa is the remaining unseen part of this room.", + "At the right edge of my view I can just make out a tall white unit with rows of books on its shelves, which looks like the bookshelf I am searching for. I will turn right again to bring it fully into the center of my view before approaching.", + "The bookshelf is now clearly visible against the far wall to the right of the sofa, filled with books above closed cabinet doors. One more right turn should place it directly ahead so I can walk straight toward it.", + "The tall white bookshelf filled with books stands directly ahead of me against the far wall, with open wooden floor between us. Since the target is already centered in my view, I will walk forward instead of scanning further, which should close the distance.", + "The bookshelf now fills more of my view and its shelves and lower cabinets are clearly resolved, so my previous step did bring me closer. I am still a couple of paces short of standing at it, so I will keep walking straight ahead.", + "The book-filled bookshelf now fills my view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001367_y000587_z000116_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001367_y000587_z000116_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e7b985d6549d8cc35efc3cda2b7996fc009470 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001367_y000587_z000116_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the gray car.", + "Type": 0, + "Start_Pose": [ + -1366.905, + 587.281, + 115.692, + 0.0, + -118.959, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1366.905, + 587.281, + 115.692, + 0.0, + -118.959, + 0.0 + ], + [ + -1366.905, + 587.281, + 115.692, + 0.0, + -93.959, + 0.0 + ], + [ + -1375.595, + 461.722, + 116.51, + 0.0, + -93.959, + 0.0 + ], + [ + -1384.284, + 336.164, + 98.381, + 0.0, + -93.959, + 0.0 + ], + [ + -1392.974, + 210.605, + 98.381, + 0.0, + -93.959, + 0.0 + ], + [ + -1392.974, + 210.605, + 98.381, + 0.0, + -68.959, + 0.0 + ], + [ + -1347.786, + 93.138, + 98.381, + 0.0, + -68.959, + 0.0 + ], + [ + -1302.598, + -24.329, + 98.381, + 0.0, + -68.959, + 0.0 + ], + [ + -1257.41, + -141.797, + 98.381, + 0.0, + -68.959, + 0.0 + ], + [ + -1212.222, + -259.264, + 98.381, + 0.0, + -68.959, + 0.0 + ], + [ + -1167.034, + -376.731, + 98.381, + 0.0, + -68.959, + 0.0 + ], + [ + -1167.034, + -376.731, + 98.381, + 0.0, + -93.959, + 0.0 + ], + [ + -1175.724, + -502.29, + 98.381, + 0.0, + -93.959, + 0.0 + ], + [ + -1175.724, + -502.29, + 98.381, + 0.0, + -93.959, + 0.0 + ] + ], + "Rationale": [ + "I can see a gray car parked along the far side of the street, well off to the right of my heading and partly blocked by the mailbox in front of me. I will turn right so the car sits nearer the middle of my view and I have a clear line toward it across the road.", + "The gray car now sits ahead of me on the far side of the open road with nothing between us. I will move forward to begin crossing and cut down the distance to it.", + "The car has grown slightly larger and stays roughly ahead of me, so my heading is still usable. I will continue forward across the road to keep closing the gap.", + "I am part way across the road and the parked gray car is clearly the nearest object ahead, now showing its side profile and wheels. Another step forward should bring me appreciably closer.", + "The gray car has drifted toward the right portion of my view as I advanced, so straight motion would carry me past its left side. I will turn right to bring it back toward the center of my heading before continuing.", + "The gray car is now framed near the middle of my view with the hedge and house behind it, so my heading points at it. I will move forward along this line to close the remaining distance.", + "The car fills more of my view and its details are sharper, confirming I am gaining ground on it. I will step forward again since the lane between us remains clear.", + "The gray car now spans much of the lower left of my view, so I am close but not yet beside it. I will continue forward to reduce the last stretch of distance.", + "The gray car sits close along the near curb, filling the left half of my view with its side profile clearly visible. I am still slightly short of it and offset to its rear, so I will move forward again to keep closing the remaining gap.", + "The gray car is now very near on my left, with its hood and front wheel clearly separated from the hedge behind. Another step forward should bring me alongside its body rather than trailing behind its rear.", + "The gray car has slid to the left edge of my view and only its front corner and wheel remain in sight, so my heading is now drifting past it. I will turn left to bring the vehicle back to the center of my heading before closing the last bit of distance.", + "The gray car is now squarely centered in front of me, its full side profile framed with clear pavement in between. One more forward step should place me directly at the vehicle, close enough to count as reaching it.", + "The gray car's door and window fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001409_y001064_z000134_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001409_y001064_z000134_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..594dccae26aa9906ff542f6f5d6245f0884fe352 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001409_y001064_z000134_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the area and navigate to the mailbox.", + "Type": 1, + "Start_Pose": [ + -1408.561, + 1063.715, + 134.473, + -0.301, + 104.342, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + 104.342, + -0.0 + ], + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + 129.342, + -0.0 + ], + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + 154.342, + 0.0 + ], + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + 179.342, + 0.0 + ], + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + -155.658, + 0.0 + ], + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + -130.658, + 0.0 + ], + [ + -1408.561, + 1063.715, + 134.473, + -0.301, + -105.658, + 0.0 + ], + [ + -1442.529, + 942.528, + 126.467, + -0.301, + -105.658, + 0.0 + ], + [ + -1476.497, + 821.342, + 118.461, + -0.301, + -105.658, + 0.0 + ], + [ + -1510.466, + 700.155, + 113.917, + -0.301, + -105.658, + 0.0 + ], + [ + -1544.434, + 578.968, + 116.422, + -0.301, + -105.658, + 0.0 + ], + [ + -1544.434, + 578.968, + 116.422, + -0.301, + -105.658, + 0.0 + ] + ], + "Rationale": [ + "I am standing on a covered porch facing the house siding, the front door and two chairs, so nothing resembling a mailbox is in view here. I will turn right to begin a consistent scan toward the open side of the porch and the yard beyond it, where a curbside mailbox is more plausible.", + "The porch decking, a neighboring brick garage and a flowering shrub now fill my view, but there is still no mailbox in sight. I will keep rotating right in the same direction to bring more of the yard and the street edge into view.", + "From this heading I can see past the porch post toward a garage, a fenced lawn and the tops of houses further off, yet no mailbox is distinguishable. Continuing the same rightward scan should open up the driveway and roadside strip, which is the likeliest place for one.", + "The view has opened onto a paved driveway, a white picket fence and houses across the way, which tells me I am now looking toward the public road frontage. I will turn right again to follow that frontage and the walkway that should lead out to the curb.", + "I can now see the road, a sidewalk and a utility pole with the neighboring house across the street, so the curb strip is close to my right. I will continue turning right to line up with the walkway that runs from this yard down to the roadside.", + "The concrete walkway toward the street lies just off to my right, along with a slender wooden post standing near the curb that looks like a mailbox mount. One more turn right should put that walkway and the post straight ahead so I can walk directly to it.", + "The walkway now runs straight out from my feet toward the road, and a wooden post that appears to carry a mailbox stands near the curb slightly left of center. I will step forward along this path to close the distance and confirm it is the mailbox.", + "After that step the post ahead is larger and I can now make out a grey box mounted on it beside the sidewalk, which matches the mailbox I am looking for. I will keep walking forward along the clear pavement to get close to it.", + "The mailbox on its wooden post is clearly visible just ahead of me near the edge of the lawn, slightly right of center. Since it is already committed as my target and the sidewalk ahead is clear, I will keep walking straight to close the remaining distance.", + "The mailbox and its post now appear noticeably larger and closer, standing just ahead of me at the curb strip. I am still a step or two short of it, so another forward step should bring me right up beside the mailbox.", + "The mailbox and its post now fill the view directly in front of me at arm's reach. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53c573d2c7657fa63553fabb40d5e7f834cc3325 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the rightmost section of the white fence visible ahead.", + "Type": 2, + "Start_Pose": [ + -1411.433, + -145.543, + 98.15, + 0.0, + -73.308, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1411.433, + -145.543, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1411.433, + -145.543, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1429.619, + -270.081, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1447.805, + -394.619, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1465.991, + -519.158, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1484.177, + -643.696, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1502.363, + -768.234, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1520.548, + -892.772, + 115.585, + 0.0, + -98.308, + 0.0 + ], + [ + -1520.548, + -892.772, + 115.585, + 0.0, + -123.308, + 0.0 + ], + [ + -1589.663, + -997.956, + 119.09, + 0.0, + -123.308, + 0.0 + ], + [ + -1658.777, + -1103.141, + 113.215, + 0.0, + -123.308, + 0.0 + ], + [ + -1658.777, + -1103.141, + 113.215, + 0.0, + -123.308, + 0.0 + ] + ], + "Rationale": [ + "The white picket fence runs along the yard to my left, and its far end, the one that butts against the tall green hedge, is the section I need to reach. Right now my heading points across the parked car and the empty street instead. I will turn left so that fence end sits ahead of me before I start walking.", + "The picket fence and the hedge it joins are now framed ahead of me, with the parked car off to my right and open pavement between us. Nothing blocks the direct line across the road. I will walk forward to close the gap toward that fence end.", + "The house and its fence line have grown noticeably larger, so my heading is carrying me toward the yard as intended. The fence end beside the hedge is still well beyond reach across the pavement. I keep walking forward.", + "The grass strip and the curb in front of the yard are now visible at the base of my view, and the hedge that meets the fence end stands directly ahead. The path stays open, with the car well clear on my right. Another step forward should bring me onto the frontage.", + "I am at the edge of the lawn now, with the hedge filling the middle of my view and the pickets continuing off to the left of it. The fence end I want still lies several paces ahead. I advance again.", + "The porch, pickets and hedge now span my whole forward view, so I am close to the frontage but not yet at the fence itself. The paved walk ahead remains clear to cross. I step forward once more.", + "The hedge now dominates the center of my view and the pickets are sliding toward my left side as I close in. I still have a short stretch of walkway before I stand at the fence. I keep moving forward.", + "The hedge has taken over most of my view and the picket fence has drifted down into the left corner, so walking straight on would carry me past it into the shrubs. Turning left should bring the fence, including the end where it meets the hedge, back in front of me. I will turn before advancing again.", + "The turn worked: the pickets now run across the front of my view and terminate at the post set against the hedge on my right. A stretch of walkway and grass still separates me from that end post. I will step forward to close it.", + "The pickets and the squared post where the fence stops beside the hedge fill much of my view now, but I am still a pace or so short of standing at that end. One more step should put me right up against it.", + "The pickets and the end post beside the hedge are directly in front of me, within arm's reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83aa99c779f2b1d76c67e60984cdef9d60a7009d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "First, walk to the right end of the white fence, and then proceed to the gray car.", + "Type": 3, + "Start_Pose": [ + -1411.433, + -145.543, + 98.15, + 0.0, + -73.308, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1411.433, + -145.543, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1375.283, + -266.099, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1375.283, + -266.099, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1393.469, + -390.637, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1411.655, + -515.175, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1437.667, + -633.657, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1467.503, + -752.041, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1485.689, + -876.579, + 113.8, + 0.0, + -98.308, + 0.0 + ], + [ + -1503.875, + -1001.118, + 118.675, + 0.0, + -98.308, + 0.0 + ], + [ + -1503.875, + -1001.118, + 118.675, + 0.0, + -123.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + -123.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + -123.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + -98.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + -73.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + -48.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + -23.308, + 0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + 1.692, + -0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + 26.692, + -0.0 + ], + [ + -1572.989, + -1106.302, + 113.09, + 0.0, + 51.692, + -0.0 + ], + [ + -1494.97, + -1007.542, + 117.834, + 0.0, + 51.692, + -0.0 + ], + [ + -1416.952, + -908.781, + 117.499, + 0.0, + 51.692, + -0.0 + ], + [ + -1341.145, + -828.804, + 106.723, + 0.0, + 51.692, + -0.0 + ], + [ + -1341.145, + -828.804, + 106.723, + 0.0, + 51.692, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the gray car parked at the curb and, beyond it, a white picket fence running along the yard of the pale house. My first destination is the right end of that fence, so I step forward off the road to close distance and open a clearer line to the fence line.", + "The parked car now fills the right side of my view and the white fence continues away to my left, so my heading points past the fence rather than at it. I will turn left to bring the picket line and the point where it meets the hedge into the center of my view.", + "The white pickets now run across the left half of my view and end where the tall hedge begins, which is the end of the fence I am heading for. The lawn and driveway between us are clear, so I walk forward to close that gap.", + "The pickets and the small evergreen beside them have grown noticeably larger, so my heading is taking me straight toward the fence. I still have several strides of open ground before reaching the spot where the pickets give way to the hedge, so I keep walking forward.", + "The fence's end and the start of the hedge sit ahead and slightly left, with grass and the front walk between me and them. Nothing blocks the route, so another step forward should bring me close to that end post.", + "I am now on the grass in front of the house with the hedge filling the middle of my view and the white pickets ending just to its left. That junction is still a little ahead of me, so I keep walking forward toward it.", + "The hedge and the house front are close now, and the last pickets sit low in the left of my view. I have not yet drawn level with where the fence stops, so I advance another step across the walk.", + "The hedge now dominates my view and only a short run of white pickets remains at the far left, so I am nearly abreast of the point where the fence terminates. One more step forward should put me level with that end of the fence.", + "The hedge now fills most of my view and only a sliver of the white picket fence shows at the far left edge, so my heading has drifted off the fence line. I will turn left to bring the fence and the point where its pickets meet the hedge back in front of me.", + "The white picket fence now runs clearly across my left foreground and terminates at a thick post where the hedge takes over. That end post is still a short distance ahead, so I will walk forward to close the last gap to it.", + "The white picket fence ends right beside me, its last post standing where the hedge takes over along the yard. I have reached the right end of that fence. I mark arriving here and now set off for the gray car parked out along the road.", + "Standing at the end post, I am still facing the house front and its porch, with nothing of the roadway in view. The gray car sits out by the street behind my right shoulder, so I will turn right to begin swinging my heading around toward it.", + "My view has swung onto the hedge top and the front windows, and there is still no sign of the street or the parked car. I will keep turning right to carry the sweep further toward the roadway side.", + "The corner of the house with its hanging flag is now near the middle of my view and a neighbouring roof is appearing on the right, so the open side of the block is coming around. Another right turn should bring the street frontage into view.", + "The hedge line now stretches away to my right and the pavement slab is opening up along that side, but the car is not yet in front of me. I will turn right again to face down the walkway toward the road.", + "The walkway and a lamp post now lie ahead with the tree line marking the street edge beyond, yet the gray car is still outside my view to the right. I will turn right once more to bring the parked car in front of me.", + "Swinging away from the fence line, the dark gray car parked at the curb has now come into the right edge of my view, still cut off by the tree. I will keep turning right to bring it fully in front of me before I set off toward it.", + "The gray car is clearly visible at the curb but still sits right of center, with the tree trunk crowding my line toward it. One more turn to the right should place it squarely ahead so my next steps go straight at it.", + "The gray car now sits centered ahead of me across the grass strip, with a clear gap beside the tree trunk on my left. I will walk forward to close the remaining distance to it.", + "The car's rear end and side are noticeably larger and I am nearly off the grass at the curb edge. I will step forward again to draw right up alongside it.", + "The gray car now dominates my view, its rear quarter only a stride or two away. One more step forward should bring me right up against its flank.", + "The gray car's door and window panels fill my view at arm's length. I am at the car, so the task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001433_y-001743_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001433_y-001743_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a787d34f05e17e019d1ebf01f5f463525e3bf719 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001433_y-001743_z000168_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the kitchen to find the dish and move toward it.", + "Type": 1, + "Start_Pose": [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 38.57, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 38.57, + 0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 63.57, + 0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 88.57, + -0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 113.57, + 0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 138.57, + -0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + 163.57, + -0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + -171.43, + 0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + -146.43, + -0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + -121.43, + -0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + -96.43, + -0.0 + ], + [ + -1432.875, + -1743.068, + 168.15, + -0.051, + -71.43, + -0.0 + ], + [ + -1392.794, + -1862.374, + 168.767, + -0.051, + -71.43, + -0.0 + ], + [ + -1352.712, + -1981.68, + 168.767, + -0.051, + -71.43, + -0.0 + ], + [ + -1312.631, + -2100.986, + 168.767, + -0.051, + -71.43, + -0.0 + ], + [ + -1312.631, + -2100.986, + 168.767, + -0.051, + -46.43, + -0.0 + ], + [ + -1279.637, + -2170.1, + 168.15, + -0.051, + -46.43, + -0.0 + ], + [ + -1279.637, + -2170.1, + 168.15, + -0.051, + -46.43, + -0.0 + ] + ], + "Rationale": [ + "From this dining nook I only see a round table with a candelabra, a louvered wardrobe, and bright windows, with no plate or kitchen counter anywhere in view. Since the dish is not visible here, I will begin a steady scan to the right to sweep the surrounding room for kitchen fixtures.", + "The turn has only brought the dining table and its chairs fully in front of me, framed by curtained windows and the same wardrobe on the left, and there is still no dish on any surface. I will keep rotating in the same rightward direction to uncover whatever lies beyond this window wall.", + "Past the edge of the dining table I can now see an opening into an adjoining space with a low dresser, a lamp, and a monitor, so the room continues to my right. No dish or kitchen worktop is in sight yet, so I will continue the same rightward sweep to expose more of that connected area.", + "This side of the space is a sitting area with a television on a dresser, an ottoman on a rug, and a chandelier overhead, which is clearly not the kitchen. Since no dish or counter appears here, I will hold my consistent rightward rotation to check the remaining unseen walls.", + "A large sectional sofa and a framed picture now dominate the view, confirming this corner is a living area rather than the kitchen. I will keep turning right in the same direction so the scan stays consistent and reaches the still-hidden portion of the room.", + "Ahead of me the sofa curves toward a tall bookcase, and at the right edge the wall seems to break toward a lighter space beyond. With no dish visible in this seating area, I will continue the rightward turn to bring that opening into full view.", + "To the right of the bookcase an open passage with a wall sconce, a small side table, and a runner rug is now visible, which suggests the rooms continue that way. The dish is still nowhere in sight, so I will keep rotating right to see what adjoins that passage.", + "The passage with the lit sconce and side table is now clearly open in front of me, and the floor leads that way past the end of the bookcase, but I still see no counters, cabinets, or plates. I will continue the same rightward turn to reveal the wall beyond that opening, where a kitchen would most likely be.", + "The living area ahead of me holds only a sofa, bookcase and a side table, no dish, but at the right edge of my view I can see white kitchen cabinets and a countertop past the square column. I will continue my rightward scan to bring that kitchen zone properly into view, since it is the most promising place for a dish.", + "The kitchen is now clearly in my view on the right, with counters, upper cabinets and a sink, though the countertop surfaces are still seen at a sharp angle and I cannot make out a dish yet. One more step of the same rightward turn should square me up with the kitchen so I can look straight down the counters.", + "I am now facing straight into the kitchen, with the range, sink and refrigerator lined up ahead and clear floor and a runner rug between me and the counters. Nothing small on the countertop is legible from this distance, so I will walk forward into the kitchen to get close enough to identify a dish.", + "From inside the kitchen I can now pick out a small white stack on the counter just left of the sink faucet, which looks like plates. I will keep walking forward toward that corner of the counter to confirm the dish and close the distance.", + "The stack beside the sink now reads clearly as a pile of plates next to a candlestick and a small goblet, so my target is confirmed. I will advance again to bring myself right up to that counter corner.", + "I am close to the counter and the plate stack sits off to my right side, near the corner under the wall cabinets. A small turn to the right should place the dish in the middle of my view so my next step goes straight toward it.", + "The stack of plates is now centered ahead of me on the granite counter, with the sink to its right. One more short step forward should bring me directly in front of the dish at arm's reach.", + "The stack of dishes fills my view directly ahead at arm's length on the counter. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001446_y-001732_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001446_y-001732_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f58ffe0fe5b9b0512b9b1d362c44199124c906a7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001446_y-001732_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Find and go to the refrigerator.", + "Type": 1, + "Start_Pose": [ + -1445.737, + -1731.683, + 168.15, + -0.051, + 120.156, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + 120.156, + 0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + 145.156, + -0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + 170.156, + -0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + -164.844, + 0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + -139.844, + -0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + -114.844, + 0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + -89.844, + 0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + -64.844, + 0.0 + ], + [ + -1445.737, + -1731.683, + 168.15, + -0.051, + -39.844, + 0.0 + ], + [ + -1349.104, + -1812.321, + 168.839, + -0.051, + -39.844, + 0.0 + ], + [ + -1283.916, + -1882.135, + 168.943, + -0.051, + -39.844, + 0.0 + ], + [ + -1283.916, + -1882.135, + 168.943, + -0.051, + -39.844, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a small sitting area with a dresser, a television and a window, so there is no refrigerator in front of me. Since a kitchen appliance would not belong in this corner, I will turn right to begin a consistent scan of the room for a doorway or kitchen cue.", + "Rotating right has brought a sectional sofa and a framed picture into view, which still reads as living space rather than a kitchen. I will keep turning right in the same direction to look for an opening that may lead toward the appliances.", + "I now see a bookcase and more of the sectional, and the right edge of my view starts to open onto a brighter adjoining space with a side table. That opening looks more promising than the seating area, so I will continue turning right to bring it fully into view.", + "The bookcase and an open stretch of wood floor leading past a wall sconce are ahead of me, suggesting a passage into another room on my right. I will turn right again to face that passage and check whether the kitchen lies beyond it.", + "On the right side of my view I can now make out counters and upper cabinets past a white column, which is a strong sign of the kitchen. I will turn right again to bring that kitchen area toward the center of my view, since the refrigerator is likely there.", + "The kitchen is clearly ahead on my right, with a run of cabinets, a sink and a range hood, but the refrigerator is still hidden beyond the near cabinetry. I will turn right once more to sweep the far side of the kitchen where a fridge would likely stand.", + "I can now see a tall white refrigerator standing at the far right end of the kitchen, next to the glass-front cabinets. It sits off to my right rather than straight ahead, so I will turn right to line my heading up with it before walking closer.", + "The refrigerator is in view beside the range and the tall glass-paneled cabinets, but it still sits left of nothing useful and my path down the kitchen runs slightly to my right. I will turn right one more step to square up with the open floor and the appliance so a straight walk should bring me to it.", + "The scan has brought the kitchen counter, range and a white refrigerator into view ahead of me, with the fridge standing between the stove and the tall glass-paned cabinets. Since the target is now clearly visible, I stop scanning and walk straight toward it along the open floor runner. This step should noticeably close the distance to the refrigerator.", + "The refrigerator now fills much more of my view just right of center, so the previous step clearly moved me closer. It is still a couple of paces away, so I continue walking forward along the same heading. One more step should put me directly at the appliance.", + "The refrigerator door and handles fill my view right in front of me at arm's length. The task of reaching the refrigerator is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001447_y-001752_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001447_y-001752_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce325609eff9628e31c5bac9451b50f988607cec --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001447_y-001752_z000168_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk towards the wall lamp on the wall.", + "Type": 0, + "Start_Pose": [ + -1447.26, + -1752.194, + 168.149, + -0.301, + -111.973, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1447.26, + -1752.194, + 168.149, + -0.301, + -111.973, + 0.0 + ], + [ + -1447.26, + -1752.194, + 168.149, + -0.301, + -136.973, + 0.0 + ], + [ + -1503.292, + -1840.605, + 168.149, + -0.301, + -136.973, + 0.0 + ], + [ + -1595.298, + -1926.483, + 168.149, + -0.301, + -136.973, + 0.0 + ], + [ + -1595.298, + -1926.483, + 168.149, + -0.301, + -111.973, + 0.0 + ], + [ + -1642.39, + -2043.198, + 168.149, + -0.301, + -111.973, + 0.0 + ], + [ + -1642.39, + -2043.198, + 168.149, + -0.301, + -86.973, + 0.0 + ], + [ + -1635.743, + -2168.879, + 168.718, + -0.301, + -86.973, + 0.0 + ], + [ + -1635.743, + -2168.879, + 168.718, + -0.301, + -86.973, + 0.0 + ], + [ + -1635.743, + -2168.879, + 168.718, + -0.301, + -86.973, + 0.0 + ] + ], + "Rationale": [ + "I can see a lit wall lamp mounted on the far wall above the small side table, beyond the open floor ahead. My current heading is partly filled by the kitchen counter and the structural pillar on the right, so I will turn left to square up with the clear floor lane running toward that wall.", + "The wall lamp now sits ahead of me across the open room, with unobstructed floor between us. I will move forward to close the distance toward that wall.", + "The sconce and the table beneath it look noticeably larger than before, so my heading is carrying me toward the target. I will keep moving forward since the floor ahead is still clear.", + "The lamp has drifted to the right side of my view while the bookshelf crowds the left edge, so my heading is no longer pointed at it. I will turn right to bring the sconce back toward the center of my view before advancing again.", + "The wall with the lamp, picture, and side table is now framed in front of me with clear rug and floor in between. I will move forward to shorten the remaining gap to that wall.", + "At this closer range the sconce has shifted right of center on its narrow wall panel, and a second lamp sits further left along the wall. I will turn right to center the intended lamp directly in front of me.", + "The lamp is now large and nearly centered on the wall pier just a short distance ahead, with only rug between us. I will move forward once more to stand right at the wall beneath it.", + "I am now right against the wall and my view is filled by blank wall surface, with only the lamp's base clipped at the top edge. I will look up to raise my gaze onto the mounted lamp and confirm I am standing at it.", + "The lit wall lamp fills my view at arm's length on the wall ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001448_y-001655_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001448_y-001655_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8745d9b752e0eb2cb572f021cede088c3a1e3d7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001448_y-001655_z000168_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First walk to the oven, then walk to the white desk.", + "Type": 3, + "Start_Pose": [ + -1447.852, + -1654.51, + 168.137, + -0.051, + -85.894, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1447.852, + -1654.51, + 168.137, + -0.051, + -85.894, + 0.0 + ], + [ + -1447.852, + -1654.51, + 168.137, + -0.051, + -60.894, + -0.0 + ], + [ + -1386.631, + -1764.476, + 168.775, + -0.051, + -60.894, + -0.0 + ], + [ + -1325.41, + -1874.441, + 168.775, + -0.051, + -60.894, + -0.0 + ], + [ + -1325.41, + -1874.441, + 168.775, + -0.051, + -60.894, + -0.0 + ], + [ + -1325.41, + -1874.441, + 168.775, + -0.051, + -85.894, + -0.0 + ], + [ + -1332.026, + -1782.279, + 168.775, + -0.051, + -85.894, + -0.0 + ], + [ + -1332.026, + -1782.279, + 168.775, + -0.051, + -110.894, + -0.0 + ], + [ + -1332.026, + -1782.279, + 168.775, + -0.051, + -135.894, + -0.0 + ], + [ + -1422.399, + -1869.875, + 168.775, + -0.051, + -135.894, + -0.0 + ], + [ + -1513.292, + -1947.87, + 168.15, + -0.051, + -135.894, + -0.0 + ], + [ + -1606.24, + -2028.125, + 168.15, + -0.051, + -135.894, + -0.0 + ], + [ + -1696.613, + -2115.721, + 168.15, + -0.051, + -135.894, + -0.0 + ], + [ + -1786.554, + -2198.714, + 168.653, + -0.051, + -135.894, + -0.0 + ], + [ + -1786.554, + -2198.714, + 168.653, + -0.051, + -135.894, + -0.0 + ], + [ + -1786.554, + -2198.714, + 168.653, + -0.051, + -135.894, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the kitchen run ahead, with the stove and its oven set into the counter on the right beneath the range hood. My body is angled toward the open living area instead of that aisle. I will turn right so the oven lies straight ahead of my walking line.", + "The striped runner now leads straight down the kitchen between the cabinets, with the oven and refrigerator on the right. Nothing blocks that lane. I will walk forward to close the distance to the oven.", + "The oven door and the burners above it are much larger in view now, but I am still a stride or two short of standing beside them. The aisle stays clear right up to the cabinets. I will keep walking forward to draw level with the oven.", + "The oven fills the right side of my view, its door and burner grates within arm's reach beside me. I have reached the oven. I mark reaching it here, then set off for the small white desk over in the far room.", + "Standing this close, the oven and the tall refrigerator fill my forward view and the counter corner blocks any further advance this way. The white desk sits back in the far room behind me, past the kitchen opening. I will turn left to begin swinging my heading away from this counter and toward that side of the house.", + "I am tucked into the closed end of the galley, with cabinets on three sides and only the runner behind me offering space. Backing straight out is quicker than a full rotation in this narrow gap. I will step backward to regain open floor before turning toward the far room with the desk.", + "With room around me again, the kitchen opening and the pillar on the left edge of my view mark the way out toward the adjoining room. The white desk lies past that opening, not down this cabinet run. I will turn left to bring the doorway into the center of my path.", + "The passage out of the kitchen is now on my left, and beyond the pillar I can glimpse the lit alcove with the small white desk against the far wall. My heading still points partly along the counters. I will turn left again to face that opening squarely before walking.", + "Past the kitchen counters I can now see through the doorway into the adjoining room, where a small white desk stands against the far wall under a framed panel. My heading is clear of the column on my right, so I will walk forward to close that distance.", + "The white desk with its single drawer is centered further ahead down the passage and has grown larger, confirming my heading is good. I will keep walking forward toward it.", + "The bookshelf has slipped to the edge of my view and the white desk sits ahead on the striped runner beneath the wall sconce. Nothing blocks the corridor, so another step forward should bring me nearer.", + "I can now make out the candle and book resting on the desk top, so I am within a few paces of it. I will advance again to stand right beside it.", + "The white desk is close on my right, its drawer pull and lower shelf clearly visible, but I am still slightly short of standing alongside it. One more step forward should place me right at it.", + "I am now standing right at the white desk, so close that its top edge is cut off at the bottom of my view. I will look down to bring the desk fully into sight and confirm I am beside it.", + "The white desk with its candle stands directly beside me, within arm's reach. Both destinations are now reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001448_y-001655_z000168_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001448_y-001655_z000168_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd8bd297b62774749f79e167a1fb8cf46d21dff --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001448_y-001655_z000168_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Lift the metal bucket by the oven, then place it by the white desk.", + "Type": 5, + "Start_Pose": [ + -1447.852, + -1654.51, + 168.137, + -0.051, + -85.894, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1280.166, + -2050.783, + 88.943, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1447.852, + -1654.51, + 168.137, + -0.051, + -85.894, + 0 + ], + [ + -1447.852, + -1654.51, + 168.137, + -0.051, + -60.894, + -0.0 + ], + [ + -1386.631, + -1764.476, + 168.775, + -0.051, + -60.894, + -0.0 + ], + [ + -1325.41, + -1874.441, + 168.775, + -0.051, + -60.894, + -0.0 + ], + [ + -1325.41, + -1874.441, + 168.775, + 0.0, + -60.894, + 0.0 + ], + [ + -1370.355, + -1793.709, + 168.775, + 0.0, + -60.894, + 0.0 + ], + [ + -1415.301, + -1712.977, + 168.775, + 0.0, + -60.894, + 0.0 + ], + [ + -1415.301, + -1712.977, + 168.775, + 0.0, + -85.894, + 0.0 + ], + [ + -1415.301, + -1712.977, + 168.775, + 0.0, + -110.894, + 0.0 + ], + [ + -1460.188, + -1830.56, + 168.15, + 0.0, + -110.894, + 0.0 + ], + [ + -1505.151, + -1946.614, + 168.15, + 0.0, + -110.894, + 0.0 + ], + [ + -1505.151, + -1946.614, + 168.15, + 0.0, + -135.894, + 0.0 + ], + [ + -1597.262, + -2019.804, + 168.15, + 0.0, + -135.894, + 0.0 + ], + [ + -1687.636, + -2107.4, + 168.15, + 0.0, + -135.894, + 0.0 + ], + [ + -1778.009, + -2194.997, + 168.65, + 0.0, + -135.894, + 0.0 + ], + [ + -1726.309, + -2144.885, + 168.65, + 0.0, + -135.894, + 0.0 + ], + [ + -1726.309, + -2144.885, + 168.65, + 0.0, + -135.894, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1280.166, + -2050.783, + 88.943, + 0.0, + 0.0, + 0.0 + ], + [ + -1280.166, + -2050.783, + 88.943, + 0.0, + 0.0, + 0.0 + ], + [ + -1280.166, + -2050.783, + 88.943, + 0.0, + 0.0, + 0.0 + ], + [ + -1280.166, + -2050.783, + 88.943, + 0.0, + 0.0, + 0.0 + ], + [ + -1307.049, + -1863.521, + 139.049, + -28.202, + -10.749, + 1.862 + ], + [ + -1352.175, + -1782.462, + 139.649, + -28.191, + -10.746, + 1.872 + ], + [ + -1397.095, + -1701.781, + 138.68, + -28.199, + -10.749, + 1.867 + ], + [ + -1394.606, + -1711.306, + 137.72, + -28.202, + -35.75, + 1.861 + ], + [ + -1397.229, + -1719.674, + 138.865, + -28.205, + -60.753, + 1.862 + ], + [ + -1439.903, + -1837.312, + 138.802, + -28.185, + -60.735, + 1.879 + ], + [ + -1484.961, + -1953.608, + 138.391, + -28.19, + -60.739, + 1.875 + ], + [ + -1490.499, + -1960.885, + 138.427, + -28.214, + -85.759, + 1.851 + ], + [ + -1581.669, + -2034.431, + 138.841, + -28.193, + -85.745, + 1.873 + ], + [ + -1672.076, + -2122.056, + 138.836, + -28.198, + -85.744, + 1.868 + ], + [ + -1762.628, + -2209.832, + 139.114, + -28.195, + -85.746, + 1.866 + ], + [ + -1776.573, + -2193.604, + 128.65, + 0.0, + -135.894, + 0.0 + ], + [ + -1776.573, + -2193.604, + 128.65, + 0.0, + -135.894, + 0.0 + ] + ], + "PD_Dist_2D": [ + 430.3, + 430.3, + 305.5, + 182.1, + 21.4, + 21.4, + 21.4, + 20.8, + 19.3, + 21.4, + 21.4, + 20.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket sits on the floor beside the oven, off to the right of my current heading and far down the kitchen. Turning right should put that stretch of kitchen and the bucket squarely ahead so I can walk straight at it.", + "The bucket now sits close to the middle of my view, standing on the floor in front of the counter beside the oven. Nothing blocks the runner between me and it, so I will walk forward to close the long gap.", + "The bucket is noticeably larger and slightly left of center now, but still several steps beyond arm's reach. I will keep walking forward to reach a distance where a grasp is plausible.", + "The metal bucket now fills the lower left of my view, right beside the oven and within arm's reach. This is the moment to attempt the grasp, so I will try to lift it before carrying it onward.", + "The grasp worked and the bucket is held in my hands rather than resting on the kitchen floor. The delivery point is the white desk back out of this narrow galley, so I will step backward along the aisle instead of pivoting in the tight space between counter and cabinets.", + "The bucket is still with me as I move, so the lift is holding. I am still between the counter run and the tall cabinets, so I will back up one more step to reach the wider floor where turning around is easy.", + "I now stand in the open end of the kitchen with the bucket in hand. The white desk is in the room off to my left, past the column, so I will turn left to bring that side of the house into view.", + "The turn has brought the column and the adjoining room with the pale side table into the left half of my view, while the kitchen still occupies the right. Another left turn should point me straight into that open room where I need to carry the bucket.", + "The metal bucket is secure in my hands, so the kitchen part of the task is done and I only need to carry it to the white desk. Ahead past the column I can see the open living area with the small white desk against the far wall. I will walk forward along that clear stretch of floor to close the distance.", + "The white desk under the framed panel is now clearly larger and closer on the left side of the room, so my heading is still useful. The kitchen counters have fallen behind me and the floor ahead stays open. I will keep walking forward to reduce the remaining distance before adjusting my heading.", + "I am close to the hallway now, but the white desk sits off to my left while my body still points along the wall. Carrying the bucket, I need it centered before the final approach. I will turn left so the desk and the runner leading to it line up ahead of me.", + "The turn brought the white desk and its striped runner into a comfortable position ahead of me. Nothing blocks the hallway between me and that desk. I will step forward to bring the bucket within placing range.", + "The desk with its candle and book is noticeably nearer and stays near the center of my view, so this heading remains correct. I am still too far away to set the bucket down beside it. I will continue walking forward along the hallway.", + "The white desk is now large and just ahead on my right along the wall, but I am not yet standing beside it. One more step should put me right at its side where the bucket can be released on the floor. I will advance again.", + "I am standing right at the white desk, with its edge and the candle at the near corner of my view. This is the spot the task asked for, and the bucket is still in my hands. I will release it here so it should come to rest on the floor by the desk.", + "The metal bucket now rests on the floor beside the white desk and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001474_y000578_z000117_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001474_y000578_z000117_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9bb24bb396aeb2a432e21fea4abca21bcc08bc9b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001474_y000578_z000117_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Cross the garden path to the dark front door on the covered porch and open it.", + "Type": 4, + "Start_Pose": [ + -1473.754, + 577.7, + 116.608, + 0.0, + 86.195, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1473.754, + 577.7, + 116.608, + 0.0, + 86.195, + 0.0 + ], + [ + -1465.402, + 703.282, + 113.853, + 0.0, + 86.195, + -0.0 + ], + [ + -1457.05, + 828.863, + 118.787, + 0.0, + 86.195, + -0.0 + ], + [ + -1448.698, + 954.445, + 127.084, + 0.0, + 86.195, + -0.0 + ], + [ + -1440.346, + 1080.026, + 135.38, + 0.0, + 86.195, + -0.0 + ], + [ + -1431.993, + 1205.608, + 143.676, + 0.0, + 86.195, + -0.0 + ], + [ + -1423.641, + 1331.189, + 164.988, + 0.0, + 86.195, + -0.0 + ], + [ + -1415.289, + 1456.771, + 164.988, + 0.0, + 86.195, + -0.0 + ], + [ + -1407.052, + 1554.702, + 165.15, + 0.0, + 86.195, + -0.0 + ], + [ + -1407.052, + 1554.702, + 165.15, + 0.0, + 61.195, + -0.0 + ], + [ + -1407.052, + 1554.702, + 165.15, + 0.0, + 61.195, + -0.0 + ], + [ + -1407.052, + 1554.702, + 165.15, + 0.0, + 61.195, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark front door sits under the covered porch straight ahead, and the paved garden path runs directly toward it between the flowering beds. I will move forward along this path to close the large gap before I can reach the door.", + "The porch and its dark door have grown slightly larger ahead of me, so my heading along the walkway is good. The path in front is still clear of the flower beds on both sides, so I will continue forward.", + "The porch overhang and the dark door with its glass panes are clearly closer now, and the concrete path still leads straight to the porch edge. Considerable distance remains, so I will keep advancing along the walkway.", + "I am nearly at the porch edge, with the dark door slightly left of center and the wooden chairs to its right. Moving forward should carry me onto the porch decking and closer to the door.", + "I am on the open porch decking now with the door frame and sidelight ahead and clear boards between us. The door is still several steps away, so I will move forward to reach it.", + "The dark door and its brass hardware are now clearly resolved a short way ahead and slightly left of my heading. I will advance again to bring the door within arm's reach for the handle.", + "The door fills the left portion of my view with the knob and siding close in front of me, so I am almost at the threshold. One more step forward should place me right at the door for the handle.", + "The knob and door edge are directly in front of me at very close range, with the frame casing filling much of my view. I will edge forward once more to be firmly at the threshold before reaching for the handle.", + "I am right up against the doorway, but my heading has drifted onto the white frame and the siding beside it, with only the dark door edge and its brass latch plate at the far left of my view. A small turn to the left should bring the door leaf and its knob back into the center of my reach for the interaction.", + "The dark front door now fills my view with its glazed panes and the brass knob squarely in front of me at arm's length. Since I am aligned and close enough to grasp the handle, I will try to open it now.", + "The dark door now stands open with the lit living room visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001496_y002020_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001496_y002020_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b570b5eadcd9a960bb9a8d4d11b2aac125d5f1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001496_y002020_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the dark grid-window door to the left of the dining table.", + "Type": 4, + "Start_Pose": [ + -1496.426, + 2019.84, + 168.15, + 0.0, + -35.639, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1496.426, + 2019.84, + 168.15, + 0.0, + -35.639, + 0.0 + ], + [ + -1496.426, + 2019.84, + 168.15, + 0.0, + -60.639, + 0.0 + ], + [ + -1434.716, + 1910.148, + 168.15, + 0.0, + -60.639, + 0.0 + ], + [ + -1373.006, + 1800.456, + 168.15, + 0.0, + -60.639, + 0.0 + ], + [ + -1311.296, + 1690.764, + 168.15, + 0.0, + -60.639, + 0.0 + ], + [ + -1311.296, + 1690.764, + 168.15, + 0.0, + -85.639, + 0.0 + ], + [ + -1311.296, + 1690.764, + 168.15, + 0.0, + -85.639, + 0.0 + ], + [ + -1333.535, + 1645.725, + 168.15, + 0.0, + -85.639, + 0.0 + ], + [ + -1333.535, + 1645.725, + 168.15, + 0.0, + -85.639, + 0.0 + ], + [ + -1333.535, + 1645.725, + 168.15, + 0.0, + -85.639, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see the dining table with the kitchen behind it, and the dark door with white grid panes sits far off at the left edge of my view. I will turn left to bring that door toward the center of my heading before walking to it.", + "The dark grid-window door and its narrow side window are now framed ahead of me, with the dining table off to the right. The floor between us is clear, so I will step forward to close the distance toward the door.", + "The door now fills much more of my view, but I am still too far back for its handle to be within reach. I will continue walking forward along this clear stretch of floor to get nearer.", + "I am close enough now to see the door's grid panes, lower panel, and the brass handle on its left side clearly. One more step forward should bring me into range to work that handle.", + "My heading has drifted so that mostly the white frame and the narrow side window are in front of me, with the dark door slab pushed to the left edge. I will turn left to square up with the door itself before trying its handle.", + "The dark grid-window door beside the dining area now fills the left half of my view, with its glass panes and lower wood panel close at hand. Since I appear to be standing right at it, I will try the open interaction from here.", + "My attempt to open this door just now left it shut, and the panel still sits off to my left rather than squarely before me, so I may be slightly too far to the side or not close enough. I will step forward to close that gap and put the door front and center for another try.", + "Now the dark wood door and its white muntin grid completely fill my view straight ahead, so I am squarely in front of the handle side rather than off to one edge as during my earlier failed attempt. I will try the open interaction again from this tighter alignment.", + "The dark grid-window door stands swung open, showing the porch decking and the street beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001516_y-001566_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001516_y-001566_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ca359fd124681bf4dbfa2ad6101b2af1a630058 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001516_y-001566_z000169_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the refrigerator.", + "Type": 0, + "Start_Pose": [ + -1516.471, + -1565.694, + 169.15, + -0.051, + -85.894, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1516.471, + -1565.694, + 169.15, + -0.051, + -85.894, + -0.0 + ], + [ + -1516.471, + -1565.694, + 169.15, + -0.051, + -60.894, + -0.0 + ], + [ + -1455.25, + -1675.66, + 168.334, + -0.051, + -60.894, + -0.0 + ], + [ + -1394.029, + -1785.625, + 168.893, + -0.051, + -60.894, + -0.0 + ], + [ + -1394.029, + -1785.625, + 168.893, + -0.051, + -35.894, + 0.0 + ], + [ + -1292.07, + -1859.415, + 168.893, + -0.051, + -35.894, + 0.0 + ], + [ + -1292.07, + -1859.415, + 168.893, + -0.051, + -35.894, + 0.0 + ] + ], + "Rationale": [ + "From the living room I can see the kitchen ahead on the right, with a white refrigerator standing beside the tall glass-front cabinets at the far right edge of my view. Turning right should bring that kitchen corridor and the refrigerator closer to the center of my heading before I start moving. I will rotate right to set up a straight approach.", + "The kitchen now lies straight ahead of me, with the refrigerator beside the stove and range hood on the right side of the open floor. The striped runner marks a clear, unobstructed path along the kitchen, so I will move forward to close distance on the refrigerator.", + "The counters and cabinets have grown noticeably larger, and the refrigerator is clearly visible to the right of the stove, but I am still several steps back from it. Nothing blocks the runner in front of me, so I will continue forward to keep shrinking the gap.", + "I am now well inside the kitchen, and the refrigerator sits off to my right beside the oven, while my heading still points at the far corner counters. A right rotation should bring the refrigerator front into the center of my view for a direct final approach.", + "The refrigerator with its two handles is now centered in front of me, though a short stretch of floor still separates us. I will step forward to arrive directly at the appliance.", + "The refrigerator fills my view at arm's length, its handles directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001524_y-001561_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001524_y-001561_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d46d210f00f42ca434e069e337c9d13b84af50f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001524_y-001561_z000169_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the faucet in the kitchen.", + "Type": 0, + "Start_Pose": [ + -1524.318, + -1561.204, + 169.15, + -0.051, + -85.894, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1524.318, + -1561.204, + 169.15, + -0.051, + -85.894, + 0.0 + ], + [ + -1515.43, + -1671.894, + 169.15, + -0.051, + -85.894, + -0.0 + ], + [ + -1515.43, + -1671.894, + 169.15, + -0.051, + -60.894, + -0.0 + ], + [ + -1450.554, + -1738.361, + 168.15, + -0.051, + -60.894, + -0.0 + ], + [ + -1389.333, + -1848.326, + 168.754, + -0.051, + -60.894, + -0.0 + ], + [ + -1328.112, + -1958.292, + 168.754, + -0.051, + -60.894, + -0.0 + ], + [ + -1279.609, + -2068.865, + 168.943, + -0.051, + -60.894, + -0.0 + ], + [ + -1279.609, + -2068.865, + 168.943, + -0.051, + -35.894, + 0.0 + ], + [ + -1279.609, + -2068.865, + 168.943, + -0.051, + -35.894, + 0.0 + ] + ], + "Rationale": [ + "From the living area I can see the kitchen counters ahead on the right, with a sink and faucet under the cabinets near the stove. The sofa and a support column crowd my current position, so I will move forward along the open floor to gain a clearer line toward that counter run.", + "I am now past the sofa with the kitchen fully in view, but the faucet sits right of my heading beside the cooktop. I will turn right to bring that sink area closer to the center of my view before closing distance.", + "The turn has put the kitchen aisle and the sink counter ahead of me, with the faucet visible near the middle of the counter run. The path along the rug looks clear, so I will move forward to reduce the remaining distance.", + "The faucet is larger and more distinct now, but I am still several steps back in the aisle. I will continue forward to keep closing on the sink.", + "I am inside the kitchen with the sink and its faucet plainly ahead on the counter to my right of the corner. The gap is still too large for a close view of the fixture, so another step forward should tighten it.", + "The faucet now fills a good part of my view just past the countertop edge, though I remain slightly short of the basin. One more forward step should bring me right up to the sink.", + "I am standing at the counter with the faucet close by, but it sits toward the right edge of my view while empty cabinets occupy the left. I will turn right to center the faucet before settling.", + "The kitchen faucet is centered directly in front of me at arm's reach above the sink basin. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001535_y000838_z000125_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001535_y000838_z000125_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e627eff0d9425ca3b3c451bbaa0f2ecaeff1500b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001535_y000838_z000125_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the lawn to the dark front door on the covered porch and open it.", + "Type": 4, + "Start_Pose": [ + -1534.717, + 838.295, + 125.039, + 0.0, + 91.519, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1534.717, + 838.295, + 125.039, + 0.0, + 91.519, + -0.0 + ], + [ + -1538.053, + 964.11, + 134.558, + 0.0, + 91.519, + -0.0 + ], + [ + -1541.39, + 1089.925, + 143.536, + 0.0, + 91.519, + -0.0 + ], + [ + -1544.726, + 1215.739, + 178.329, + 0.0, + 91.519, + -0.0 + ], + [ + -1544.726, + 1215.739, + 178.329, + 0.0, + 66.519, + -0.0 + ], + [ + -1494.578, + 1331.176, + 165.243, + 0.0, + 66.519, + -0.0 + ], + [ + -1444.43, + 1446.613, + 165.243, + 0.0, + 66.519, + -0.0 + ], + [ + -1394.971, + 1554.292, + 165.15, + 0.0, + 66.519, + -0.0 + ], + [ + -1394.971, + 1554.292, + 165.15, + 0.0, + 66.519, + -0.0 + ], + [ + -1394.971, + 1554.292, + 165.15, + 0.0, + 66.519, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark front door sits under the covered porch straight ahead, reachable along the paved walkway crossing the lawn. I will move forward along that walkway to close the large remaining distance to the porch.", + "The door and its narrow sidelight are now noticeably larger ahead of me, so my heading along the walk is good. The flowering shrub only crowds the right side of my view, leaving the path forward clear, so I will keep advancing.", + "I am at the edge of the porch decking with the door and the pair of chairs plainly in view, but still too far to reach the handle. Another forward step should bring me onto the deck and within working distance of the entry.", + "Standing on the porch, the door has drifted to the left edge of my view while the chairs and window occupy the center of my heading. I will turn left to bring the doorway back in front of me before approaching further.", + "The door with its glass upper panel now sits near the middle of my view, so my heading is usable for a direct approach. I will step forward across the deck to shorten the gap to the handle.", + "The door fills more of my view and its brass handle is clearly visible on the near side, but I am not yet within arm's reach. Advancing again should place me close enough to operate the latch.", + "I am nearly against the door now, with the muntin bars and the handle plate large in front of me. A short final step should settle me squarely at the threshold for the interaction.", + "I am directly at the dark front door, close enough that its glass panes and the handle plate dominate my view. I will attempt to open it now, which should swing the entry inward.", + "The front door now stands open with the lit interior room visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001553_y000311_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001553_y000311_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f8b7f2bb54c8767d3912f5c6a23dcf1d70ac8f7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001553_y000311_z000098_t0_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Go to the US flag on the porch.", + "Type": 0, + "Start_Pose": [ + -1553.196, + 311.044, + 98.15, + -0.301, + 90.079, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookUp", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveBackward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1553.196, + 311.044, + 98.15, + -0.301, + 90.079, + 0.0 + ], + [ + -1553.196, + 311.044, + 98.15, + -0.301, + 65.079, + -0.0 + ], + [ + -1500.164, + 425.183, + 109.632, + -0.301, + 65.079, + -0.0 + ], + [ + -1500.164, + 425.183, + 109.632, + -0.301, + 90.079, + -0.0 + ], + [ + -1500.337, + 551.04, + 119.155, + -0.301, + 90.079, + -0.0 + ], + [ + -1500.511, + 676.897, + 113.795, + -0.301, + 90.079, + -0.0 + ], + [ + -1500.684, + 802.754, + 117.054, + -0.301, + 90.079, + -0.0 + ], + [ + -1500.858, + 928.611, + 125.368, + -0.301, + 90.079, + -0.0 + ], + [ + -1500.858, + 928.611, + 125.368, + -0.301, + 65.079, + -0.0 + ], + [ + -1500.858, + 928.611, + 125.368, + -0.301, + 40.079, + -0.0 + ], + [ + -1404.557, + 1009.643, + 130.722, + -0.301, + 40.079, + -0.0 + ], + [ + -1308.257, + 1090.676, + 144.618, + -0.301, + 40.079, + -0.0 + ], + [ + -1308.257, + 1090.676, + 144.618, + -0.301, + 65.079, + -0.0 + ], + [ + -1308.257, + 1090.676, + 144.618, + -0.301, + 90.079, + -0.0 + ], + [ + -1309.455, + 1209.157, + 144.126, + -0.301, + 90.079, + -0.0 + ], + [ + -1309.455, + 1209.157, + 144.126, + -0.301, + 90.079, + -0.0 + ], + [ + -1309.455, + 1209.157, + 144.126, + -0.301, + 65.079, + -0.0 + ], + [ + -1309.455, + 1209.157, + 144.126, + -0.301, + 40.079, + -0.0 + ], + [ + -1309.455, + 1209.157, + 144.126, + -0.301, + 15.079, + -0.0 + ], + [ + -1309.455, + 1209.157, + 144.126, + -0.301, + 15.079, + -0.0 + ], + [ + -1398.672, + 1185.119, + 142.538, + -0.301, + 15.079, + -0.0 + ], + [ + -1398.672, + 1185.119, + 142.538, + -0.301, + 15.079, + -0.0 + ], + [ + -1398.672, + 1185.119, + 142.538, + -0.301, + 15.079, + -0.0 + ] + ], + "Rationale": [ + "I can see the US flag hanging under the porch roof ahead, but the mail post sits right in the middle of my view and the shrubs crowd the ground straight ahead of me. Turning left should swing my heading onto the open sidewalk and paved walk that lead toward the porch instead of into that post and planting.", + "The concrete walk now runs clear in front of me with the porch and its flag beyond the white picket fence. I will step forward along this open pavement to close distance toward the house before refining my heading.", + "After advancing, the house and its porch have shifted to the right side of my view while a tree trunk and neighboring garage fill the left. Turning right should bring the front walk and the porch with the flag back to the center of my heading.", + "The walkway to the front steps is now squarely centered ahead of me, with the flag mounted on a porch post to the left of the door. I will advance straight along this path to keep closing on the porch.", + "The porch roof, door, and the flag on its angled staff are noticeably larger now, so my heading along the walk is good. Another step forward should bring me close enough to the porch that the flag is within easy reach of my view.", + "The porch is now filling much of my view, and the US flag is mounted on a post at its left end, still some distance ahead of me. The paved walkway in front of me runs straight to the porch steps with nothing blocking it, so I will step forward again to keep closing the gap.", + "I am close to the porch edge now, with the flag hanging from its pole near the upper left and the front door directly ahead. Another step forward along the walkway should bring me up to the porch deck where the flag post stands.", + "Advancing this far has pushed the flag out of my view entirely, leaving only the porch ceiling, door and chair in front of me, so my current heading is no longer pointed at the target. The flag post stood off to the left along the porch, so I will turn left to bring it back into sight and correct my alignment.", + "The turn brought the flag back into view, but it is still up at the left edge rather than in front of me. I will turn left once more so the flag and its post sit nearer the center of my heading before I move again.", + "The flag now hangs high and just left of center on its pole at the porch post, so my heading is finally lined up with the target. The grass strip and walkway ahead look passable, so I will step forward to close the remaining distance to the flag post.", + "The flag hanging from the porch post is still up at the top edge of my view, but the tall flowering shrub in front of me hides the base of the porch and the mounting bracket. I will step forward again to close the remaining gap to the porch edge so the flag and its support come within a clear, near distance.", + "My forward step has brought me tight against the porch railing and the rock border, and the flag is no longer anywhere in my view, so continuing straight along this line only follows the railing away from it. I will turn right toward the porch deck and house wall to bring the flag's mounting side back into view.", + "The turn has already brought the porch deck, the potted plant, and the front door into view, but the porch still runs off obliquely to my right. One more turn right should square me up with the porch front where the flagpole is fixed, so I can judge my heading and distance properly.", + "I am now squared up with the porch front, with the door centered and the deck open ahead of me past the potted plant. I will step forward onto the porch to get within close range of the spot where the flagpole is mounted overhead.", + "I am standing close to the door on the porch, but at this eye level I see only siding, the window, and the chair, with no flag anywhere in my view. The flagpole is mounted high under the porch roof, so I will tilt my gaze up to bring it back into sight.", + "Raising my gaze only filled my view with the painted porch ceiling above the front door, and the flag is nowhere in it. I recall the flag hanging from a post toward the left end of this porch, so I will turn left to swing my heading that way.", + "Turning left brought the porch deck, the shuttered window, and a support post at the left edge into view, but the flag still is not visible. I will turn left again to keep sweeping toward the outer end of the porch where its pole should be.", + "Now I am looking along the porch railing past a thick post, with the neighboring fence beyond, and the flag is still not in view. Another left turn should carry my heading further around the post toward the open side of the porch where the pole is anchored.", + "I am now facing outward along the porch edge, with the railing, a post, and the yard and parked car beyond in my view. The flag should hang well above this railing height, so I will raise my gaze to search the space under the eave.", + "With my gaze raised I see only the underside of the eave, the bracket on the post, and open sky, so the near post and roof edge are blocking where the flag should hang. I am standing too close beneath that overhang, so I will step backward to open up the sightline along the porch.", + "Only the bottom stripes of the US flag hang into the top edge of my view, with its mount cut off above me. I am standing right beside the porch post that carries it, so tilting my gaze upward should bring the whole flag into clear view for confirmation.", + "The US flag hangs fully in view on its staff at the porch post just above me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001586_y-002165_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001586_y-002165_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ae699e30a67a5dd2210065f7fe0904d5527b1332 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001586_y-002165_z000169_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the green plant on the desk near the window.", + "Type": 0, + "Start_Pose": [ + -1585.696, + -2165.372, + 168.793, + -0.051, + 38.57, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1585.696, + -2165.372, + 168.793, + -0.051, + 38.57, + 0.0 + ], + [ + -1585.696, + -2165.372, + 168.793, + -0.051, + 63.57, + 0.0 + ], + [ + -1544.467, + -2053.479, + 168.15, + -0.051, + 63.57, + 0.0 + ], + [ + -1528.788, + -1943.641, + 168.15, + -0.051, + 63.57, + 0.0 + ], + [ + -1528.788, + -1943.641, + 168.15, + -0.051, + 38.57, + 0.0 + ], + [ + -1430.386, + -1865.172, + 168.15, + -0.051, + 38.57, + 0.0 + ], + [ + -1331.983, + -1786.702, + 168.827, + -0.051, + 38.57, + 0.0 + ], + [ + -1263.083, + -1711.227, + 168.827, + -0.051, + 38.57, + 0.0 + ], + [ + -1263.083, + -1711.227, + 168.827, + -0.051, + 38.57, + 0.0 + ] + ], + "Rationale": [ + "From this hallway spot a near wall and a column crowd most of my view, and I can only glimpse a small white desk with a green plant beside a bright window through the gap ahead. I will turn right to swing my heading into the open floor area so I have a clear, walkable route toward that window corner. This should give me a wider view of the room before I commit to moving.", + "The room now opens ahead with clear wooden floor, and the desk with the green plant sits near the windows on the left side of the space. Nothing blocks the stretch directly in front of me, so I will move forward to close distance into the room. The plant should grow larger and better centered as I advance.", + "I am now inside the room with the dining table and windows ahead, and the small desk holding the green plant is still off to my left, partly hidden behind the near column. Continuing straight should carry me past that column and put the plant fully in view. The floor in front of me remains open, so forward motion is safe.", + "The green plant on the white desk is now clearly visible beside the left window, but it sits well off to the left of my heading while I face the dining table. I will turn left to bring that desk and plant toward the center of my view. This should align me for a straight approach.", + "The desk with the green plant is now roughly ahead of me beneath the window, with clear floor between us. I will move forward to close the remaining distance along this heading. The plant should keep growing near the center of my view.", + "The green plant on the small desk is clearly ahead by the window and noticeably larger than before, but still a couple of steps away. I will move forward again to shorten that gap. The route stays clear of the cabinet on my left and the table on my right.", + "The potted green plant now fills much of my view on the desk beside the window, though I am still slightly short of standing right at it. I will take one more step forward to reach the desk. That should bring me within immediate reach of the plant.", + "The green plant's leaves are directly in front of me at the window desk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001589_y-002092_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001589_y-002092_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a54cba08a5a855887d64ee7b1348856ed760f98d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001589_y-002092_z000168_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the refrigerator.", + "Type": 0, + "Start_Pose": [ + -1588.958, + -2091.766, + 168.284, + -0.051, + 40.695, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1588.958, + -2091.766, + 168.284, + -0.051, + 40.695, + 0.0 + ], + [ + -1588.958, + -2091.766, + 168.284, + -0.051, + 65.695, + 0.0 + ], + [ + -1542.954, + -1976.811, + 168.15, + -0.051, + 65.695, + 0.0 + ], + [ + -1542.954, + -1976.811, + 168.15, + -0.051, + 40.695, + -0.0 + ], + [ + -1456.766, + -1891.341, + 168.15, + -0.051, + 40.695, + -0.0 + ], + [ + -1456.766, + -1891.341, + 168.15, + -0.051, + 15.695, + -0.0 + ], + [ + -1456.766, + -1891.341, + 168.15, + -0.051, + -9.305, + -0.0 + ], + [ + -1332.563, + -1911.691, + 168.883, + -0.051, + -9.305, + -0.0 + ], + [ + -1332.563, + -1911.691, + 168.883, + -0.051, + -9.305, + -0.0 + ] + ], + "Rationale": [ + "I can see the white refrigerator ahead on the left inside the kitchen, but a support pillar and the counter half wall stand between me and it, so I cannot head straight there. I will turn right toward the open floor of the adjoining room, which should give me a clear route around that partition.", + "Facing the open floor now, the wide clear walkway runs ahead between the pillar and the sofa, with the refrigerator standing off to my left past the pillar. I will move forward along this open lane to get clear of the partition and closer to the kitchen side.", + "I have advanced past the pillar, and the kitchen with the refrigerator now lies off to my left while my heading points into the dining and living space. I will turn left to swing my view back toward the kitchen wall so the refrigerator comes into my forward field.", + "The refrigerator is now in view on the left of the kitchen run, but still several steps away across the open floor. I will move forward to close that distance while the path in front of me stays clear of furniture.", + "After closing in, the refrigerator has slipped to the far left edge of my view while I am looking mostly at the cabinet and window wall. I will turn left to bring the refrigerator back toward the center of my heading.", + "The refrigerator is now clearly in sight but still sitting left of my heading, with the pantry doors and window filling the center. One more left turn should place it directly in front of me for a straight final approach.", + "The refrigerator now sits near the middle of my view along the kitchen wall, with clear floor between us. I will move forward to close the last gap and stand right at it.", + "The refrigerator fills my view at arm's length, its handles directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001594_y-001832_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001594_y-001832_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff817d859366354cf11774cdc19022c00a7885bf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001594_y-001832_z000168_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search for the refrigerator and go to it.", + "Type": 1, + "Start_Pose": [ + -1593.999, + -1831.539, + 168.15, + -0.051, + 110.798, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1593.999, + -1831.539, + 168.15, + -0.051, + 110.798, + 0.0 + ], + [ + -1593.999, + -1831.539, + 168.15, + -0.051, + 85.798, + -0.0 + ], + [ + -1593.999, + -1831.539, + 168.15, + -0.051, + 60.798, + -0.0 + ], + [ + -1593.999, + -1831.539, + 168.15, + -0.051, + 35.798, + -0.0 + ], + [ + -1593.999, + -1831.539, + 168.15, + -0.051, + 10.798, + -0.0 + ], + [ + -1593.999, + -1831.539, + 168.15, + -0.051, + -14.202, + -0.0 + ], + [ + -1471.987, + -1862.417, + 168.15, + -0.051, + -14.202, + -0.0 + ], + [ + -1349.974, + -1893.296, + 168.817, + -0.051, + -14.202, + -0.0 + ], + [ + -1283.928, + -1920.956, + 168.943, + -0.051, + -14.202, + -0.0 + ], + [ + -1283.928, + -1920.956, + 168.943, + -0.051, + -14.202, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a small sitting area with a sofa, ottoman, and a monitor on a low dresser, and no refrigerator is anywhere in view. I will turn left to begin a consistent scan of the room for an appliance area or an opening toward a kitchen.", + "Turning has brought a dining table with chairs and curtained windows into view, which suggests the eating area rather than the kitchen itself. I will keep turning left in the same direction, since a kitchen with a refrigerator is often adjacent to a dining space.", + "The dining set, a tall louvered cabinet, and a side table are now centered, but I still see no appliance front. Continuing left should carry my view past this cabinetry toward whatever room lies beyond it.", + "Glass-front cabinets are appearing at the left edge, a strong cue that the kitchen adjoins this dining area on that side. I will turn left again to bring that cabinetry run fully into view.", + "The kitchen is now open in front of me with a range, hood, and a white refrigerator standing between the cabinets on the left. I will turn left once more to center that refrigerator before walking toward it.", + "The refrigerator is now roughly ahead of me in the kitchen run, framed between the range hood and the glass-paneled pantry doors. The floor between us looks clear, so I will walk forward to close the distance.", + "The refrigerator is noticeably larger and its handles are now clearly visible just right of center. I will keep stepping forward along the open floor to get within reach of it.", + "The refrigerator now fills much of the view with its label and door handles plainly readable, so I am close but not yet right at it. I will take one more short step forward to stand directly in front of it.", + "The refrigerator's door panel and handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001599_y-001830_z000168_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001599_y-001830_z000168_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..80093394a3061a9fde93a1ff72075cf5d48bd5b3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001599_y-001830_z000168_t0_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the small desk under the painting.", + "Type": 0, + "Start_Pose": [ + -1599.398, + -1830.451, + 168.15, + -0.051, + -98.045, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1599.398, + -1830.451, + 168.15, + -0.051, + -98.045, + 0.0 + ], + [ + -1617.012, + -1955.071, + 168.15, + -0.051, + -98.045, + -0.0 + ], + [ + -1617.012, + -1955.071, + 168.15, + -0.051, + -123.045, + -0.0 + ], + [ + -1685.643, + -2060.572, + 168.15, + -0.051, + -123.045, + -0.0 + ], + [ + -1754.273, + -2166.072, + 168.722, + -0.051, + -123.045, + -0.0 + ], + [ + -1754.273, + -2166.072, + 168.722, + -0.051, + -123.045, + -0.0 + ] + ], + "Rationale": [ + "I can already see the small white desk against the far wall with the narrow decorative painting hanging above it, slightly left of my heading. Since it is still several steps away across the open floor, I will move forward to close the gap before making any heading correction.", + "From this closer position the desk and the painting above it sit left of my view center, so my heading is biased slightly to the right of the target. I will turn left to bring the desk toward the middle of my view for a straight approach.", + "The desk under the painting now sits near the center of my view with a clear stretch of rug leading to it. I will move forward along this heading to shorten the remaining distance.", + "The desk is much larger in view now, with the candle and book on its top clearly visible under the painting, but I am still a stride short of standing at it. I will move forward once more to arrive directly in front of the small desk.", + "I am standing right at the small desk, with the decorative painting directly above it filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001603_y000013_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001603_y000013_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e1d47042e8a290a9a13deb37eb38bdcd6c31f12d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001603_y000013_z000098_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Go to the spot where the white fence meets the green bushes, then move to the gray car.", + "Type": 3, + "Start_Pose": [ + -1603.008, + 13.361, + 98.15, + 0.0, + -73.308, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1603.008, + 13.361, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1566.858, + -107.195, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1530.708, + -227.75, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1530.708, + -227.75, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1548.894, + -352.288, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1567.08, + -476.827, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1585.266, + -601.365, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1603.452, + -725.903, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1621.637, + -850.441, + 113.018, + 0.0, + -98.308, + 0.0 + ], + [ + -1639.823, + -974.979, + 118.342, + 0.0, + -98.308, + 0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + -98.308, + 0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + -98.308, + 0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + -73.308, + 0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + -48.308, + 0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + -23.308, + 0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + 1.692, + -0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + 26.692, + -0.0 + ], + [ + -1658.009, + -1099.518, + 113.215, + 0.0, + 51.692, + -0.0 + ], + [ + -1579.991, + -1000.757, + 118.505, + 0.0, + 51.692, + -0.0 + ], + [ + -1501.972, + -901.997, + 116.667, + 0.0, + 51.692, + -0.0 + ], + [ + -1423.954, + -803.237, + 98.339, + 0.0, + 51.692, + -0.0 + ], + [ + -1423.954, + -803.237, + 98.339, + 0.0, + 51.692, + -0.0 + ] + ], + "Rationale": [ + "Across the roadway I can see the white picket fence on the left and the dark green hedge continuing to the right, with their junction hidden near the parked car. I am still standing out on the open pavement, far from both that junction and the car. I will walk forward to close the gap toward the fence and hedge line.", + "The fence pickets and the hedge behind the car now sit noticeably larger in front of me, so my last step gained ground. The grass strip and curb are still ahead rather than underfoot. Another step forward should bring me nearer the stretch where the fence ends and the hedge begins.", + "From here the point where the white picket fence runs into the green hedge lies off to my left, while my heading points at the parked car in the middle of the view. Walking straight would take me into the car instead of that junction. I will turn left so the fence and hedge meeting point sits ahead of me.", + "The turn worked, and now the white picket fence and the hedge run across the middle of my view with their meeting point roughly ahead of me. I am still out on the road surface with the lawn and walkway between us. I will step forward along this heading to close on that junction.", + "The white pickets and the leafy hedge are larger and their junction is still close to the center of my view, so my heading remains good. The concrete walkway and grass ahead give me a clear route. Another forward step should shorten the remaining distance.", + "I am now on the walkway edge, with the picket fence filling the left of my view and the hedge running off to the right from where the fence line ends. The seam between the two is close but not yet beside me. I will keep walking forward toward it.", + "The fence tops and the hedge foliage now rise high in my view, and the point where the white pickets give way to the green hedge is only a short distance ahead. Nothing blocks the grass and paving between me and it. I will advance again to draw level with that spot.", + "The last picket and the corner of the hedge are almost within arm's reach, sitting just ahead and slightly right of my path. I still have a little paving to cover before I am standing right at that seam. I will take another step forward to arrive there.", + "The white picket fence runs along my left and the green hedge picks up just beyond its end, with that junction still a couple of paces ahead. I will keep walking forward to close the remaining gap to where the two meet.", + "The corner post capping the pickets and the near end of the hedge are almost level with me now, though still slightly forward. One more step should place me right at the seam where fence and hedge join.", + "The last white picket ends at its corner post and the green hedge takes over immediately beside it, both close enough to touch directly in front of me. I have arrived where the white fence meets the green bushes, so I mark reaching it and set off for the gray car parked at the curb.", + "I am facing straight into the yard, with the fence corner and hedge filling my view and no sight of the road. The curb where the gray car stands lies back around to my right, so I will turn right to start swinging my heading off the house.", + "My heading has come off the fence corner, but I am still looking along the house front and the hedge, with the car nowhere in sight. Turning right again should carry me further around toward the street side.", + "The hedge now angles away to my right and a strip of sidewalk has appeared in the lower corner, so the roadway is still further around. Another right turn should bring the walkway and curb toward the middle of my view.", + "The sidewalk now runs ahead alongside the hedge, but the parking lane is still hidden off to the right behind the tree and lamp post. I will turn right once more to bring the curb where the car sits into view.", + "Swinging right has opened up the street, and the dark gray car is now visible at the curb near the right edge past the tree. One more right turn should bring it toward the center so I can walk straight at it.", + "The parked gray car sits on the roadway ahead of me but still off to the right of my heading, with the sidewalk and tree trunk filling the center. One more turn to the right should bring it squarely in front of me so I can walk straight at it.", + "The gray car now sits near the middle of my view, angled across the near lane with clear grass and pavement between us. With my heading settled on it, I will step forward to cut down that distance.", + "The car's rear end and license plate have grown noticeably larger and remain straight ahead, so my line is good. I still have several strides of open ground before I am beside it, so I continue walking forward.", + "The gray car now fills much of my view, its taillights and rear window close in front of me, but a short gap of asphalt remains. One more step forward should put me right up against it.", + "The gray car's rear panel and glass fill my view at arm's length. Both destinations are reached, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001623_y-001854_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001623_y-001854_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce8669da9929a45e82180deaf265129d1bda3c9a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001623_y-001854_z000168_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Proceed to the plant on the small white table.", + "Type": 0, + "Start_Pose": [ + -1622.938, + -1853.822, + 168.15, + -0.051, + -18.585, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1622.938, + -1853.822, + 168.15, + -0.051, + -18.585, + -0.0 + ], + [ + -1622.938, + -1853.822, + 168.15, + -0.051, + 6.415, + -0.0 + ], + [ + -1497.867, + -1839.76, + 168.15, + -0.051, + 6.415, + -0.0 + ], + [ + -1497.867, + -1839.76, + 168.15, + -0.051, + 31.415, + -0.0 + ], + [ + -1390.457, + -1774.158, + 168.694, + -0.051, + 31.415, + -0.0 + ], + [ + -1283.047, + -1708.556, + 168.694, + -0.051, + 31.415, + -0.0 + ], + [ + -1283.047, + -1708.556, + 168.694, + -0.051, + 31.415, + -0.0 + ] + ], + "Rationale": [ + "From here I can see a small white table holding a leafy potted plant far to the right, near the bright window past the kitchen cabinets. My body is aimed at the kitchen counters instead, so I will turn right to bring that table nearer the center of my view.", + "The small white table with the potted plant now sits ahead and slightly right, beside the window, with open floor between me and it. Nothing blocks the path, so I will move forward to close some of that distance.", + "I am closer now, but the plant on the white table still sits right of my heading while the refrigerator and cabinet block the center of my view. Turning right should place the table more directly ahead so I can continue straight toward it.", + "The white table with its potted plant is now roughly centered ahead beneath the window, with clear floor leading to it. I will move forward to shorten the remaining gap.", + "The small white table and its plant now fill the lower center of my view, but I am still a step short of standing right at it. One more forward step should bring me close enough to consider the approach done.", + "The potted plant on the white table fills the near foreground directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001628_y002308_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001628_y002308_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3188511382d330d66fbd808be2bd10d1055b47c5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001628_y002308_z000169_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door immediately ahead.", + "Type": 4, + "Start_Pose": [ + -1628.334, + 2308.383, + 168.943, + 0.0, + -122.033, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1628.334, + 2308.383, + 168.943, + 0.0, + -122.033, + 0.0 + ], + [ + -1695.091, + 2201.687, + 168.943, + 0.0, + -122.033, + 0.0 + ], + [ + -1757.056, + 2146.986, + 168.15, + 0.0, + -122.033, + 0.0 + ], + [ + -1757.056, + 2146.986, + 168.183, + 0.0, + -122.033, + 0.0 + ], + [ + -1757.056, + 2146.986, + 168.183, + 0.0, + -122.033, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with its brass lever handle stands ahead of me across the hallway, but I am still several steps back from it. I will move forward along the corridor to close that gap so the door comes within reach.", + "The door panel now fills most of my view and the lever handle sits just right of center, so I am nearly squared up with it. I will take one more short step forward to bring the handle into comfortable interaction range.", + "I am now right up against the closed door, with its panel molding and frame edge filling my view, which means the latch is within arm's reach. I will attempt to operate the handle and push the door open.", + "The door now stands swung inward, revealing the tiled bathroom with tub and window beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001634_y-001830_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001634_y-001830_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..552ddaa2ee299470c8e5cb69490694d1021568a0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001634_y-001830_z000168_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search for the refrigerator and go to it.", + "Type": 1, + "Start_Pose": [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -137.259, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -137.259, + 0.0 + ], + [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -112.259, + -0.0 + ], + [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -87.259, + -0.0 + ], + [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -62.259, + 0.0 + ], + [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -37.259, + 0.0 + ], + [ + -1633.697, + -1830.372, + 168.15, + -0.051, + -12.259, + 0.0 + ], + [ + -1510.708, + -1857.096, + 168.15, + -0.051, + -12.259, + 0.0 + ], + [ + -1387.719, + -1883.82, + 168.81, + -0.051, + -12.259, + 0.0 + ], + [ + -1284.083, + -1910.176, + 168.943, + -0.051, + -12.259, + 0.0 + ], + [ + -1284.083, + -1910.176, + 168.943, + -0.051, + -12.259, + 0.0 + ] + ], + "Rationale": [ + "My view is dominated by a tall bookcase and cabinet at close range, which is clearly a study area with no refrigerator anywhere in sight. The only open space is the floor and wall opening off to my right, so I will turn right to begin a consistent scan toward that unexplored direction.", + "The rotation has opened up a plain room edge with a small side table, wall sconce and a rug, but still no kitchen appliance. Since nothing here resembles a refrigerator, I will keep turning right in the same direction to sweep further along the room.", + "On the right side of my view a pass-through opening reveals pale cabinetry and a counter, a strong hint that a kitchen lies in that direction. I will continue turning right to bring that promising area fully into view, where a refrigerator is likely to stand.", + "The kitchen is now clearly in front of me on the right, with a sink, gas range, stainless oven and upper cabinets, but the refrigerator is still outside my field of view. I will turn right again so the far end of this kitchen run comes into sight, where the appliance most likely sits.", + "A white refrigerator with a freezer compartment is now visible beside the oven, toward the right of my view next to the glass-paned cabinet. I will turn right once more to center it in front of me before walking over.", + "The refrigerator now sits near the middle of my view along the kitchen wall, with clear open floor and rug between us. With the heading set, I will step forward to close the distance toward it.", + "The refrigerator has grown noticeably larger and stays centered, so my heading is still good and the path remains clear. I will keep walking forward to get within immediate reach of it.", + "The refrigerator now fills much of my view with both door handles plainly visible just ahead. One more forward step should bring me right up against it, close enough to count as standing at the target.", + "The refrigerator's white door and chrome handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001652_y-002134_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001652_y-002134_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0fbaec33e6824d5629bc2059813a5f77ae8cd378 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001652_y-002134_z000169_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the fridge.", + "Type": 0, + "Start_Pose": [ + -1651.669, + -2134.445, + 168.746, + -0.051, + 9.993, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1651.669, + -2134.445, + 168.746, + -0.051, + 9.993, + 0.0 + ], + [ + -1651.669, + -2134.445, + 168.746, + -0.051, + 34.993, + -0.0 + ], + [ + -1651.669, + -2134.445, + 168.746, + -0.051, + 59.993, + 0.0 + ], + [ + -1588.726, + -2025.456, + 168.15, + -0.051, + 59.993, + 0.0 + ], + [ + -1525.783, + -1916.466, + 168.15, + -0.051, + 59.993, + 0.0 + ], + [ + -1525.783, + -1916.466, + 168.15, + -0.051, + 34.993, + 0.0 + ], + [ + -1525.783, + -1916.466, + 168.15, + -0.051, + 9.993, + 0.0 + ], + [ + -1401.834, + -1894.626, + 168.718, + -0.051, + 9.993, + 0.0 + ], + [ + -1282.85, + -1872.406, + 168.943, + -0.051, + 9.993, + 0.0 + ], + [ + -1282.85, + -1872.406, + 168.943, + -0.051, + -15.007, + 0.0 + ], + [ + -1282.85, + -1872.406, + 168.943, + -0.051, + -40.007, + -0.0 + ], + [ + -1282.85, + -1872.406, + 168.943, + -0.051, + -40.007, + -0.0 + ] + ], + "Rationale": [ + "I can see the pale fridge standing in the kitchen beyond a narrow gap, but a wide wall and a column with a half wall counter sit directly between me and it, so there is no straight lane forward. I will turn right to swing my view toward the open floor on that side and look for a route that actually leads into the kitchen area.", + "The kitchen with the fridge now sits to my left, and ahead of me the open living area with clear wood flooring is starting to appear. I will turn right once more so my heading lines up with that open floor, which should give me an unobstructed path around the partition.", + "My heading is now down the open floor of the living and dining space, with the column and half wall pushed off to my left instead of directly in front of me. I will move forward along this clear stretch to get past the partition and closer to the kitchen where the fridge stands.", + "The partition is behind me and the fridge is clearly visible at the far left of the kitchen wall with the glass cabinets. The floor ahead is still open, so I will keep moving forward to draw level with the kitchen before turning toward the fridge.", + "I have come far enough into the room that the fridge has slipped out of view behind my left shoulder, with only the tall cabinetry edge showing on that side. I will turn left to bring the kitchen and the fridge back into the center of my view.", + "The fridge is back in sight but still off toward my left edge, beside the glass-paned cabinets. I will turn left again to center it in front of me so I can approach it head on.", + "The kitchen wall now faces me squarely, with the fridge and its tall cabinet housing just left of center and the stove beyond it. The floor between us is clear, so I will move forward to close the remaining distance.", + "The fridge now fills much of my left foreground with its handles clearly visible, but I am still a step short of standing right at it. I will move forward once more to close that last bit of distance to the appliance.", + "I am now right up against the glazed upper cabinet, and only a sliver of the fridge's white shell shows along the left edge of my view. I will turn left to swing my heading off this cabinet and bring the fridge itself into the center of my view.", + "The fridge's rounded white body now occupies the left portion of my view, but the cabinet frame still cuts into the right side, so I am not squarely facing it. I will turn left again to center the appliance front and its handles ahead of me.", + "The fridge front with both door handles fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001653_y-001988_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001653_y-001988_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a7972526fcc1de1fe515cbbb7a012779eb3d88 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001653_y-001988_z000168_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the tall white cabinet on the left side of your view.", + "Type": 2, + "Start_Pose": [ + -1653.447, + -1988.223, + 168.15, + -0.051, + 51.278, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1653.447, + -1988.223, + 168.15, + -0.051, + 51.278, + 0.0 + ], + [ + -1653.447, + -1988.223, + 168.15, + -0.051, + 26.278, + -0.0 + ], + [ + -1540.595, + -1932.502, + 168.15, + -0.051, + 26.278, + -0.0 + ], + [ + -1427.743, + -1876.781, + 168.15, + -0.051, + 26.278, + -0.0 + ], + [ + -1314.89, + -1821.06, + 168.877, + -0.051, + 26.278, + -0.0 + ], + [ + -1314.89, + -1821.06, + 168.877, + -0.051, + 26.278, + -0.0 + ] + ], + "Rationale": [ + "On the left side of my view a tall white cabinet with glazed, mullioned doors stands beside the cream refrigerator, while a louvered wardrobe sits further right near the dining table. I take the glass-fronted one as my goal and turn left so it comes toward the middle of my view.", + "The glass-fronted white cabinet beside the refrigerator now sits ahead of me and only slightly left, with clear floor between us. I step forward to close that distance.", + "The paned doors of the tall cabinet are noticeably larger now and its brass handles are clearly visible, so I am still several paces short. I keep walking straight ahead toward it.", + "The tall cabinet with the frosted glass panes now fills much of the left half of my view, though I am not yet standing at its face. One more step forward should bring me right up against it.", + "The tall white cabinet's glazed panel doors fill the left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001664_y-001980_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001664_y-001980_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce02601234eaca623ed05b394217503c2b3de589 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001664_y-001980_z000168_t0_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Approach the book lying on the table.", + "Type": 0, + "Start_Pose": [ + -1663.892, + -1979.539, + 168.15, + -0.301, + -111.973, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1663.892, + -1979.539, + 168.15, + -0.301, + -111.973, + 0.0 + ], + [ + -1710.984, + -2096.254, + 168.15, + -0.301, + -111.973, + 0.0 + ], + [ + -1753.519, + -2204.129, + 168.762, + -0.301, + -111.973, + 0.0 + ], + [ + -1753.519, + -2204.129, + 168.762, + -0.301, + -111.973, + 0.0 + ], + [ + -1753.519, + -2204.129, + 168.762, + -0.301, + -111.973, + 0.0 + ] + ], + "Rationale": [ + "Down this corridor I can see a small white table against the far wall with a candle and a flat object on its top, which is the most likely place for the book I need to reach. The table sits nearly straight ahead of my current heading, so no turn is needed yet. I will move forward to close the distance and get a clearer look at what rests on the tabletop.", + "From here the tabletop is much clearer, and I can now make out a brown hardbound book lying flat beside the red candle. The table is still a couple of steps away and remains centered in front of me. I will move forward again to bring myself within close range of the book.", + "I am now right up against the table, so my forward-level view is filled mostly with the blank wall and the framed panel above, with only the table's edge showing at the bottom. The book itself has dropped below my line of sight at this short range. I will look down to bring the tabletop and the book back into view.", + "The brown book on the table is directly in front of me, filling the near view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001666_y-002042_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001666_y-002042_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0fff5c9754e32df9e459ed81ec68c12f0869fb43 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001666_y-002042_z000168_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the kitchen faucet beneath the wall light.", + "Type": 0, + "Start_Pose": [ + -1666.345, + -2042.367, + 168.189, + -0.051, + 28.415, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1666.345, + -2042.367, + 168.189, + -0.051, + 28.415, + 0.0 + ], + [ + -1555.649, + -1982.476, + 168.189, + -0.051, + 28.415, + -0.0 + ], + [ + -1555.649, + -1982.476, + 168.189, + -0.051, + 3.415, + 0.0 + ], + [ + -1503.455, + -1945.505, + 168.15, + -0.051, + 3.415, + 0.0 + ], + [ + -1503.455, + -1945.505, + 168.15, + -0.051, + -21.585, + -0.0 + ], + [ + -1387.461, + -1976.137, + 168.695, + -0.051, + -21.585, + -0.0 + ], + [ + -1282.624, + -2021.802, + 168.943, + -0.051, + -21.585, + -0.0 + ], + [ + -1282.624, + -2021.802, + 168.943, + -0.051, + -46.585, + 0.0 + ], + [ + -1279.619, + -2106.494, + 168.943, + -0.051, + -46.585, + 0.0 + ], + [ + -1279.619, + -2106.494, + 168.943, + -0.051, + -21.585, + 0.0 + ], + [ + -1279.619, + -2106.494, + 168.943, + -0.051, + -21.585, + 0.0 + ] + ], + "Rationale": [ + "From this doorway the kitchen run is off to my left, where I can make out a counter with a sink and a lit strip of light above it, though a wall column blocks most of that area. I will move forward to get past the column and into the open floor so the kitchen faucet becomes reachable. This should shorten the distance and give me a clearer look at the target wall.", + "Now that I am in the open room, my heading points at the refrigerator and cabinetry straight ahead while the counter with the sink lies to my left. I will turn left to swing my view toward that counter run and its illuminated under-cabinet light. That should put the faucet side of the kitchen in front of me before I advance further.", + "Turning has brought the kitchen wall into view, but a structural column on my left still hides part of the counter where the sink should be. I will move forward to advance into the kitchen and clear that column from my line of sight. This should reveal the sink and the wall light directly above it.", + "I can now see the counter with a faucet and sink at the left side of my view, lit by the strip light under the upper cabinets, while the oven and fridge sit dead ahead. I will turn left to bring that faucet toward the center of my heading. Aligning now should let me walk straight at the target.", + "The sink with its faucet is now in the left half of my view with the lit fixture directly over it, and there is clear floor between me and the cabinets. I will move forward to close the remaining distance toward that counter. The faucet should grow noticeably larger and closer.", + "The faucet and its double basin are clearly in front of me under the glowing strip light, but I am still a couple of steps back from the counter edge. I will move forward again to keep closing that gap. This should bring me within reach of the faucet position.", + "I am now right at the counter, and the faucet has drifted to the left edge of my view with the wall light above it, while the pan and cooktop fill the right side. I will turn left to bring the faucet back toward the center of my heading. That should give me a controlled, front-on framing of the target.", + "The faucet is now centered in my view directly beneath the lit under-cabinet fixture, with the sink basins just below it. I will take one more step forward to settle right at the sink position rather than standing off from it. This should place me squarely at the faucet beneath the wall light.", + "I am now standing directly at the counter with the stainless sink basin close on my right, but the faucet itself sits past my current heading toward that side, with only the corner cabinets and stacked plates in front of me. Turning right by a small increment should swing the basin and its faucet, along with the strip light above the counter, into the center of my line of sight for a clean final alignment.", + "The kitchen faucet stands centered directly in front of me at arm's length, with the lit wall fixture glowing right above it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001671_y-001996_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001671_y-001996_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..843a042d0e2bfb1c3ad81d732bc1828d526300f6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001671_y-001996_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the environment to find the refrigerator and go close to it.", + "Type": 1, + "Start_Pose": [ + -1670.657, + -1996.306, + 168.15, + -0.301, + -111.973, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1670.657, + -1996.306, + 168.15, + -0.301, + -111.973, + -0.0 + ], + [ + -1670.657, + -1996.306, + 168.15, + -0.301, + -86.973, + 0.0 + ], + [ + -1670.657, + -1996.306, + 168.15, + -0.301, + -61.973, + 0.0 + ], + [ + -1670.657, + -1996.306, + 168.15, + -0.301, + -36.973, + 0.0 + ], + [ + -1670.657, + -1996.306, + 168.15, + -0.301, + -11.973, + 0.0 + ], + [ + -1670.657, + -1996.306, + 168.15, + -0.301, + 13.027, + 0.0 + ], + [ + -1548.039, + -1967.937, + 168.15, + -0.301, + 13.027, + 0.0 + ], + [ + -1437.808, + -1927.847, + 168.149, + -0.301, + 13.027, + 0.0 + ], + [ + -1315.19, + -1899.478, + 168.897, + -0.301, + 13.027, + 0.0 + ], + [ + -1315.19, + -1899.478, + 168.897, + -0.301, + -11.973, + 0.0 + ], + [ + -1284.137, + -1922.399, + 168.942, + -0.301, + -11.973, + 0.0 + ], + [ + -1284.137, + -1922.399, + 168.942, + -0.301, + -11.973, + 0.0 + ] + ], + "Rationale": [ + "From this hallway corner I only see a plain wall with a decorative panel, a small console table and wall sconces, with no refrigerator or kitchen cue anywhere in front of me. I will turn right to begin a steady scan in one consistent direction and open up the parts of the room currently outside my view.", + "The heading has swung past the console table and now shows mostly bare wall with a sconce and a striped rug, still no refrigerator. I will keep rotating right in the same direction to sweep further along this wall and check whether an adjoining room opens up.", + "At the right edge of my view a bright opening with upper cabinets and a countertop has just appeared, a strong sign that the kitchen lies in that direction. I will continue turning right to bring that kitchen opening into the center of my view, since a refrigerator is most likely there.", + "The pass-through on my right now clearly shows a kitchen with a sink, counter and glass-front upper cabinets, though the appliance wall is still hidden behind the near partition. I will turn right once more to expose more of that kitchen and look for the refrigerator along its far side.", + "A tall white refrigerator is now visible in the kitchen to the right of the column, next to the glass-paned cabinetry. I will turn right once more so the refrigerator sits closer to the center of my view before I start walking toward it.", + "The refrigerator is now roughly ahead of me, standing between the range wall and the tall paneled cabinets, with open floor and a clear rug path leading toward it. I will step forward to close the distance since nothing blocks the route.", + "The kitchen has grown noticeably larger and the refrigerator with its rounded doors and vertical handles is clearly ahead, next to the oven and the glass cabinet doors. I will keep walking forward, as I am still several steps away from being close to it.", + "The refrigerator now fills a large part of my view just left of the paneled cabinet doors, but I am still short of standing right beside it. I will advance another step to bring myself close to the appliance.", + "The refrigerator's rounded white doors and handles fill the left portion of my view while the glass cabinet doors dominate the center and right, so my heading is offset from the target. I will turn left to bring the refrigerator into the middle of my view before closing the last bit of distance.", + "The refrigerator is now centered in front of me with both handles and the door seam clearly visible, and the floor ahead between the stove and the appliance looks clear. I will take one short step forward to stand directly beside it.", + "The refrigerator door and handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001671_y002161_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001671_y002161_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c2560393671c869e9344d416fc34a96ee0f63e9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001671_y002161_z000169_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Follow the striped runner to the white door at the far end of the hallway and open it.", + "Type": 4, + "Start_Pose": [ + -1671.213, + 2160.865, + 168.833, + 0.0, + 158.929, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1671.213, + 2160.865, + 168.833, + 0.0, + 158.929, + 0.0 + ], + [ + -1788.657, + 2206.114, + 168.833, + 0.0, + 158.929, + -0.0 + ], + [ + -1906.1, + 2251.364, + 168.833, + 0.0, + 158.929, + -0.0 + ], + [ + -2022.936, + 2280.2, + 168.943, + 0.0, + 158.929, + -0.0 + ], + [ + -2022.936, + 2280.2, + 168.943, + 0.0, + -176.071, + 0.0 + ], + [ + -2148.499, + 2271.576, + 168.682, + 0.0, + -176.071, + 0.0 + ], + [ + -2148.499, + 2271.576, + 168.682, + 0.0, + -176.071, + 0.0 + ], + [ + -2148.499, + 2271.576, + 168.682, + 0.0, + -176.071, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner on the floor stretches away from me down the hallway and points toward the white paneled door at the far end. I will move forward along that runner to close distance with the door.", + "The white door has grown larger ahead of me and its brass handle is now discernible, so I am still short of interaction range. I will continue forward along the runner to keep closing on it.", + "The door now fills much of the view slightly right of center, with the cabinet wall passing close on my left. I will advance once more to reach the small area directly in front of the doorway.", + "After closing in, the door has slid to the right edge of my view while a blank wallpapered wall fills the front, so my heading is no longer on the door. I will turn right to bring the door and its handle back to the center of my view.", + "The white door is now squarely centered in front of me with its brass lever visible on the right side. I am still a step back from it, so I will move forward to get within reach of the handle.", + "I am pressed right up against the white door panel, close enough that only its molding fills my view, which means the handle is within reach. I will attempt to open the door now, and it should swing clear to reveal the space beyond.", + "The white door stands open with the room beyond it plainly visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001689_y-001840_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001689_y-001840_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2314eea34e3a8538982cedf5b8624bb8e4d214ff --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001689_y-001840_z000168_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the faucet first, and then proceed to the round dining table.", + "Type": 3, + "Start_Pose": [ + -1689.38, + -1840.144, + 168.15, + -0.051, + 9.993, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1689.38, + -1840.144, + 168.15, + -0.051, + 9.993, + 0.0 + ], + [ + -1689.38, + -1840.144, + 168.15, + -0.051, + -15.007, + -0.0 + ], + [ + -1567.814, + -1872.734, + 168.15, + -0.051, + -15.007, + -0.0 + ], + [ + -1446.247, + -1905.323, + 168.15, + -0.051, + -15.007, + -0.0 + ], + [ + -1446.247, + -1905.323, + 168.15, + -0.051, + -40.007, + -0.0 + ], + [ + -1349.843, + -1986.235, + 168.795, + -0.051, + -40.007, + -0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + -40.007, + -0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + -40.007, + -0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + -15.007, + -0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + 9.993, + -0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + 34.993, + -0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + 59.993, + 0.0 + ], + [ + -1279.596, + -2065.603, + 168.943, + -0.051, + 84.993, + 0.0 + ], + [ + -1283.861, + -1942.57, + 168.943, + -0.051, + 84.993, + 0.0 + ], + [ + -1283.861, + -1942.57, + 168.943, + -0.051, + 109.993, + 0.0 + ], + [ + -1326.893, + -1824.296, + 168.943, + -0.051, + 109.993, + 0.0 + ], + [ + -1369.925, + -1706.022, + 168.943, + -0.051, + 109.993, + 0.0 + ], + [ + -1369.925, + -1706.022, + 168.943, + -0.051, + 109.993, + 0.0 + ] + ], + "Rationale": [ + "The kitchen counter with its sink and faucet sits far to the left of my heading, while the sofa and dining area fill the right side of my view. I will turn left to bring the sink run closer to the center of my path before advancing.", + "The kitchen is now squarely ahead, with the counter and sink under the cabinet lighting on the left side of the room. The floor between me and the raised kitchen area looks clear, so I will walk forward to close the distance.", + "The counter, oven and refrigerator have grown noticeably larger, and the faucet over the sink is visible at the left of the run. I am still several steps short of it, so I will keep walking forward.", + "I am now close in front of the cabinetry, and the sink with its faucet sits off to my left rather than straight ahead. I will turn left so the faucet lines up with my heading for a direct approach.", + "The corner counter with the sink is now centered in front of me, the faucet standing under the lit cabinet. A few more steps should put me right at it, so I will walk forward.", + "The double sink and its tall faucet are close ahead on the counter, though still a short gap away. I will step forward once more to stand right at the basin.", + "The tall curved faucet stands directly in front of me above the double sink, close enough to touch. I have reached the faucet. I mark reaching it, and now I turn away toward the round dining table by the windows.", + "With the faucet right at the counter in front of me, there is nothing more for me here and the dining area lies well behind my right shoulder. I will turn right to begin swinging my heading away from this corner and back toward the round table.", + "The faucet has slid to the left edge of my view and only bare wall and countertop lie ahead, so there is nothing more for me here. The round dining table stood off toward the windowed side of the room, so I turn right again to sweep my heading around toward it.", + "My view still holds only counter, a baking pan and a mug against a blank wall, with the stove burners just entering on the right. That means the open part of the room is still further around, so I keep turning right to find the dining area.", + "The cooktop and the corner of the kitchen wall now fill my view, with the refrigerator just showing at the right edge. The passage out of the kitchen must be past that appliance run, so I continue rotating right.", + "Past the refrigerator I can now see the bright window bay with upholstered chairs and the corner of a table on the right side of my view. That is the dining spot I want, so I turn right once more to bring the open floor toward it straight ahead of me.", + "The round table with its chairs now sits clearly down the open corridor ahead, past the refrigerator and cabinets on my left. The floor between us is clear, so I walk forward to close the distance.", + "I have stepped out of the narrow kitchen run and the round table by the window now sits right of center in my view. I turn right to put it squarely in front of me before covering the remaining floor.", + "The round table and its chairs stand ahead by the bright window with nothing between us but open floor and the runner. I walk forward to close on it.", + "The round table has grown much larger and I can make out the candlestick on its surface, though I am still a stride or two short of standing at its edge. I step forward again to finish closing that gap.", + "The round dining table with its candlesticks is directly before me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001735_y-002027_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001735_y-002027_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48798a87b3dfd983f813509ed344d2f7946e6648 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001735_y-002027_z000168_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the dining chair beside the brown sofa.", + "Type": 0, + "Start_Pose": [ + -1734.85, + -2027.311, + 168.15, + -0.051, + 63.002, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1734.85, + -2027.311, + 168.15, + -0.051, + 63.002, + 0.0 + ], + [ + -1734.85, + -2027.311, + 168.15, + -0.051, + 38.002, + -0.0 + ], + [ + -1635.816, + -1965.451, + 168.15, + -0.051, + 38.002, + -0.0 + ], + [ + -1536.64, + -1887.961, + 168.15, + -0.051, + 38.002, + -0.0 + ], + [ + -1536.64, + -1887.961, + 168.15, + -0.051, + 63.002, + -0.0 + ], + [ + -1472.799, + -1806.654, + 168.15, + -0.051, + 63.002, + -0.0 + ], + [ + -1472.799, + -1806.654, + 168.15, + -0.051, + 88.002, + -0.0 + ], + [ + -1465.469, + -1681.699, + 168.15, + -0.051, + 88.002, + -0.0 + ], + [ + -1465.469, + -1681.699, + 168.15, + -0.051, + 88.002, + -0.0 + ] + ], + "Rationale": [ + "From here the brown sofa fills the middle of my view, and past its left end I can glimpse a small dining table with a chair beside the windows. I will turn left to bring that dining area fully into view and open a clear path toward it.", + "The dining nook with its round table and chairs now sits ahead of me on the right side of the open floor, with unobstructed wood flooring between us. I will move forward to close the sizable gap toward that seating.", + "The dining table and its chairs are noticeably larger now, but I am still standing back on the open floor short of the striped rug. I will continue straight ahead to keep closing on the dining seating.", + "The dining table with its chairs now sits toward the right half of my view while the cabinets and side table take up the center. I will turn right to place the dining seating in front of me before advancing again.", + "The dining set is now centered ahead of me, and I can see the brown upholstered sofa entering the view on my right. I will move forward to close the remaining distance to the table and its chairs.", + "I am close to the table now, with chairs on either side of it, and the sofa lies off to my right beyond the corner. I will turn right so the chair on the sofa side of the table comes in front of me rather than at the edge of my view.", + "From this heading the dining chair on the window side nearest the sofa area is just ahead and slightly left, with the brown sofa and ottoman further right. I will step forward to stand directly beside that chair.", + "The dining chair on the sofa side of the table stands directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001735_y-002027_z000168_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001735_y-002027_z000168_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f77631ef851895e6a4f0fe334a70dc48e9db0ec8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001735_y-002027_z000168_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the dining table.", + "Type": 0, + "Start_Pose": [ + -1734.899, + -2027.334, + 168.15, + -0.051, + 67.147, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1734.899, + -2027.334, + 168.15, + -0.051, + 67.147, + 0.0 + ], + [ + -1734.899, + -2027.334, + 168.15, + -0.051, + 42.147, + -0.0 + ], + [ + -1641.096, + -1962.937, + 168.15, + -0.051, + 42.147, + -0.0 + ], + [ + -1547.781, + -1878.481, + 168.15, + -0.051, + 42.147, + -0.0 + ], + [ + -1547.781, + -1878.481, + 168.15, + -0.051, + 67.147, + -0.0 + ], + [ + -1502.939, + -1830.344, + 168.15, + -0.051, + 67.147, + -0.0 + ], + [ + -1444.629, + -1741.274, + 168.15, + -0.051, + 67.147, + -0.0 + ], + [ + -1433.32, + -1668.87, + 168.296, + -0.051, + 67.147, + -0.0 + ], + [ + -1433.32, + -1668.87, + 168.296, + -0.051, + 67.147, + -0.0 + ] + ], + "Rationale": [ + "From here the room's small round dining table with its chairs sits by the far windows on the left side of my view, partly hidden behind the large sofa. I will turn left to place that dining area and the open floor beside the sofa more squarely ahead of me. That heading should give me a clear lane to walk toward the table.", + "The dining table beside the bright windows is now within my forward field of view, with clear floor running toward it past the end of the sofa. I will move forward along this open lane to close the distance to the dining area.", + "The round table with its two chairs and candelabra is clearly larger now, sitting to the right of center against the window wall, and the striped rug in front of me is unobstructed. I will keep moving forward to shorten the remaining gap before fine tuning my heading.", + "The dining table is offset toward the right side of my view while my current heading points more at the cabinet and side table on the left wall. I will turn right so the table sits centered ahead of me and the last approach can be a straight walk.", + "With the round dining table now near the middle of my view and the floor in front of it clear, my heading points straight into the dining nook. I will move forward to close the remaining distance to the table.", + "The table and its nearest chair now occupy much of the lower part of my view, so I am close but not yet standing at its edge. I will step forward again to finish closing on the table.", + "The tabletop with its candelabra is directly in front of me and the flanking chairs are at my sides, leaving only a short final gap. I will take one more step forward to bring myself right up to the table edge.", + "The dining table edge and its candelabra are immediately in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001739_y-002217_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001739_y-002217_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acef97397ebf190fe4ba8257be78b6e856d04862 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001739_y-002217_z000169_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "First go to the refrigerator, then go to the multi-seat sofa.", + "Type": 3, + "Start_Pose": [ + -1739.16, + -2217.182, + 168.78, + -0.051, + 70.455, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1739.16, + -2217.182, + 168.78, + -0.051, + 70.455, + 0.0 + ], + [ + -1697.054, + -2098.575, + 168.15, + -0.051, + 70.455, + -0.0 + ], + [ + -1654.949, + -1979.968, + 168.15, + -0.051, + 70.455, + -0.0 + ], + [ + -1654.949, + -1979.968, + 168.15, + -0.051, + 45.455, + 0.0 + ], + [ + -1654.949, + -1979.968, + 168.15, + -0.051, + 20.455, + 0.0 + ], + [ + -1537.025, + -1935.984, + 168.15, + -0.051, + 20.455, + 0.0 + ], + [ + -1419.102, + -1892.0, + 168.769, + -0.051, + 20.455, + 0.0 + ], + [ + -1419.102, + -1892.0, + 168.769, + -0.051, + -4.545, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + -4.545, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + -4.545, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + 20.455, + -0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + 45.455, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + 70.455, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + 95.455, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + 120.455, + 0.0 + ], + [ + -1293.639, + -1901.973, + 168.769, + -0.051, + 145.455, + 0.0 + ], + [ + -1397.307, + -1830.605, + 168.769, + -0.051, + 145.455, + 0.0 + ], + [ + -1470.582, + -1762.22, + 168.15, + -0.051, + 145.455, + 0.0 + ], + [ + -1470.582, + -1762.22, + 168.15, + -0.051, + 145.455, + 0.0 + ] + ], + "Rationale": [ + "From the hallway I can see the white refrigerator far off to the left, past the partition wall, while the long brown sofa sits ahead in the living area. I will walk forward to reach the open floor where the kitchen opening becomes accessible.", + "The partition has slid past on my left and the cabinets and dining nook now open up on that side, so the kitchen entrance lies further along. Another step forward should bring me level with that opening before I swing toward the refrigerator.", + "Straight ahead is only the back of the sofa and the window wall, while the kitchen side of the room lies off to my left. I will turn left to bring the appliance area into the middle of my view.", + "The turn brought the white refrigerator into view, but it sits at the far left edge beside the glass-front cabinets. I will turn left once more so it lines up ahead of me for a straight approach.", + "The refrigerator now stands roughly ahead of me between the stove and the tall glass cabinets, with clear floor and rug in between. I will walk forward to close the distance to it.", + "The appliance wall has grown noticeably larger, with the refrigerator and oven now clearly in front of me. I will step forward again to keep shrinking the remaining gap.", + "I am close to the kitchen wall now, but the refrigerator has drifted to the left side of my view while the window and side table sit straight ahead. A left turn should place the appliance squarely in front of me.", + "The refrigerator now stands directly in front of me with its door handles at arm's height and only a short stretch of floor left. I will step forward to stand right at it.", + "The tall cream refrigerator door with its chrome handle fills my view at arm's length, so I am standing right at it. I have reached the refrigerator. I mark reaching it and now set out for the big multi-seat sofa in the living room.", + "Facing the refrigerator this closely leaves me no view of the room, and the long couch sits back behind my right shoulder. I will turn right to begin swinging my heading away from the appliance and toward the open living area.", + "The refrigerator has slid to my left edge, but glass-paned cabinet doors still block the way ahead. I will keep turning right to bring the open floor of the living room into view.", + "Cabinet fronts still dominate my view, with only a narrow strip of floor, a side table and a wardrobe opening on the right. I will turn right again to continue rotating toward the seating area.", + "The dining table and curtained windows are now entering from the right, which means the living room lies further around in that direction. I will turn right again to keep bringing the couch into my forward view.", + "The dining set is centered ahead and the television with an upholstered ottoman shows at the right margin, so the lounge seating is just past that edge. I will turn right once more to face it.", + "The wide brown sofa is now clearly in view on my right, still off to the side of my heading. One more right turn should place it near the center of my path so I can walk straight at it.", + "The long multi-seat sofa now sits ahead of me with clear wooden floor between us. I will walk forward to close the remaining distance to it.", + "The large sectional sofa fills the right half of my view and its near armrest is only a short distance ahead. One more step should bring me right up beside the seating rather than leaving me back near the doorway.", + "The multi-seat sofa is directly beside me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001774_y001832_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001774_y001832_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a82fcb9b678f69aaea2bbd67e354e72705bb1736 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001774_y001832_z000169_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Turn away from the bathtub, locate the bathroom door, and open it.", + "Type": 4, + "Start_Pose": [ + -1774.455, + 1832.004, + 168.895, + 0.0, + -88.767, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + -88.767, + 0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + -63.767, + 0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + -38.767, + 0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + -13.767, + 0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + 11.233, + -0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + 36.233, + -0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + 61.233, + -0.0 + ], + [ + -1774.455, + 1832.004, + 168.895, + 0.0, + 86.233, + -0.0 + ], + [ + -1766.186, + 1957.591, + 168.24, + 0.0, + 86.233, + -0.0 + ], + [ + -1758.532, + 2048.376, + 168.15, + 0.0, + 86.233, + -0.0 + ], + [ + -1758.532, + 2048.376, + 168.15, + 0.0, + 86.233, + -0.0 + ], + [ + -1758.532, + 2048.376, + 168.15, + 0.0, + 86.233, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the tub and its window with tiled walls on both sides, so no exit is visible from this heading. I will turn right to begin sweeping the room away from the bathtub in search of the bathroom door.", + "The view still shows the shower curtain, the tub rim and the window above it, so I am still looking at the bathing area. I will keep rotating right to bring the far side of the bathroom into view where a door is more likely.", + "The curtain is now on my left and a vanity counter with a mirror is appearing at the right edge, so the room continues in that direction. I will turn right again to scan past the vanity for the door.", + "The sink, mirror and light fixture now fill my view, and this wall is solid with no opening. I will continue turning right to check the wall beyond the vanity.", + "Past the vanity I can see a towel ring, a picture and the room opening toward a corner on my right. I will turn right once more to reveal that corner and look for the exit there.", + "A tall cabinet stands ahead and a door frame with a brass handle is just appearing at the right edge of my view. I will turn right to bring that door fully into view.", + "The panelled door with its brass knob is now clearly visible to the right of the cabinet, but it sits off to the side of my heading. I will turn right a bit more to square my facing with the door before moving toward it.", + "The bathroom door is now directly ahead of me with its knob at a reachable height, but I am still several steps back near the cabinet and the washer. I will move forward to close that distance so the handle comes within interaction range.", + "The bathroom door now fills my view with its panels and brass handle centered slightly left, so I am aligned with it but still a short step away. I will move forward once more to close that remaining gap and bring the latch within reach for a handle interaction.", + "I am now directly against the closed door, with its panel moldings filling my view at arm's length. Since I am squarely aligned with the latch side and no obstacle sits between me and the leaf, I will attempt to open it, which should swing the door clear of the frame.", + "The door now stands open, revealing the hallway with a dresser and lamp beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001789_y-000064_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001789_y-000064_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b099543fce8fb77e7cac103008b230eb12146a19 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001789_y-000064_z000098_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First, go to the trash bag beside the trash bin, then proceed to the mailbox.", + "Type": 3, + "Start_Pose": [ + -1789.061, + -63.669, + 98.15, + -0.051, + 85.457, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1789.061, + -63.669, + 98.15, + -0.051, + 85.457, + 0.0 + ], + [ + -1789.061, + -63.669, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1833.049, + 54.253, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1877.038, + 172.174, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1877.038, + 172.174, + 98.15, + -0.051, + 135.457, + -0.0 + ], + [ + -1966.74, + 260.457, + 98.15, + -0.051, + 135.457, + -0.0 + ], + [ + -1966.74, + 260.457, + 98.15, + -0.051, + 135.457, + -0.0 + ], + [ + -1966.74, + 260.457, + 98.15, + -0.051, + 110.457, + 0.0 + ], + [ + -1966.74, + 260.457, + 98.15, + -0.051, + 85.457, + 0.0 + ], + [ + -1966.74, + 260.457, + 98.15, + -0.051, + 60.457, + -0.0 + ], + [ + -1966.74, + 260.457, + 98.15, + -0.051, + 35.457, + 0.0 + ], + [ + -1864.222, + 333.467, + 98.15, + -0.051, + 35.457, + 0.0 + ], + [ + -1761.703, + 406.477, + 108.719, + -0.051, + 35.457, + 0.0 + ], + [ + -1659.185, + 479.487, + 118.288, + -0.051, + 35.457, + 0.0 + ], + [ + -1659.185, + 479.487, + 118.288, + -0.051, + 10.457, + 0.0 + ], + [ + -1659.185, + 479.487, + 118.288, + -0.051, + 10.457, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the grey wheeled bin far off to my right at the curb, with a dark trash bag slumped against its side. My current heading points straight at the porch instead, so I will turn right to bring that bin and bag toward the middle of my view before advancing.", + "The bin and the dark bag beside it now sit ahead of me along the curb, roughly centred and still a fair distance off. The street between us is clear, so I will walk forward to close that gap.", + "The bin has grown noticeably larger and the bag leaning against its right side is clearly separate now, but both are still several paces away. My heading remains good, so another step forward should bring me near enough to stand beside the bag.", + "I am close to the curb now, and the bin fills much of my view while the sagging bag sits just off its right side. A short turn to the right should put the bag itself, rather than the bin, in front of me for the final step.", + "The bin and the bag tucked against it are now low and near in front of me along the curb, with the driveway open to my right. One more step forward should place me right alongside the bag.", + "The grey bin rises directly beside me at the corner of my view, and the trash bag is at my feet against it, close enough to touch. I have reached the trash bag beside the trash bin. I mark reaching it, then set off for the mailbox on its post by the sidewalk.", + "Standing at the bin, my view faces the garage and the fenced yards stretching away up the block, and no mailbox post is anywhere ahead of me. The mailbox stands back along the sidewalk to my left, so I will turn left to begin swinging my heading that way.", + "The swing so far has brought the porch and the white picket fence into view, but the mailbox post is still further round to my left. I will turn left again to keep rotating toward that stretch of sidewalk.", + "The bin and its bag are behind me now, and my view is filled with the porch and fence straight ahead, with no mailbox in sight. I will keep swinging left along the street frontage so the sidewalk further down comes into view.", + "The white mailbox on its wooden post has come into view at the left edge, standing at the curb beyond the ferns. One more turn left should bring it nearer the center of my view so I can walk straight at it.", + "The mailbox now sits ahead of me down the sidewalk, roughly in line with my heading and still some distance off. I will walk forward along the grass strip to close that gap.", + "The mailbox has grown larger and its red flag is now clearly readable, so my heading is good but I am not yet beside it. Another step forward should bring me closer to the post.", + "The mailbox is close on my left now, its post and box filling a good part of my view, but I am still short of standing level with it. I will step forward once more to draw alongside.", + "I have drawn level with the post, and only its bare wooden support shows at my left edge while the box itself has slipped out of view. Turning left should square me up on the mailbox at arm's reach.", + "The mailbox stands directly before me at arm's length, its box and red flag filling my view. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001789_y-000064_z000098_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001789_y-000064_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a322b32e9a1f004261ccd2a34dbde2e90c660bc --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001789_y-000064_z000098_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the tomato from the trash bag beside the trash bin, then drop it near the mailbox.", + "Type": 5, + "Start_Pose": [ + -1789.061, + -63.669, + 98.15, + -0.051, + 85.457, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1907.588, + 331.372, + 63.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1789.061, + -63.669, + 98.15, + -0.051, + 85.457, + 0 + ], + [ + -1789.061, + -63.669, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1833.049, + 54.253, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1877.038, + 172.174, + 98.15, + -0.051, + 110.457, + -0.0 + ], + [ + -1877.038, + 172.174, + 98.15, + 0.0, + 110.458, + -0.0 + ], + [ + -1877.038, + 172.174, + 98.15, + 0.0, + 85.458, + -0.0 + ], + [ + -1877.038, + 172.174, + 98.15, + 0.0, + 60.458, + -0.0 + ], + [ + -1814.98, + 281.67, + 98.15, + 0.0, + 60.458, + -0.0 + ], + [ + -1814.98, + 281.67, + 98.15, + 0.0, + 35.458, + -0.0 + ], + [ + -1712.463, + 354.681, + 98.15, + 0.0, + 35.458, + -0.0 + ], + [ + -1609.945, + 427.692, + 110.328, + 0.0, + 35.458, + -0.0 + ], + [ + -1668.592, + 385.925, + 105.25, + 0.0, + 35.458, + -0.0 + ], + [ + -1668.592, + 385.925, + 105.25, + 0.0, + 35.458, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1907.588, + 331.372, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1907.588, + 331.372, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1907.588, + 331.372, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1907.588, + 331.372, + 63.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1896.831, + 164.139, + 68.256, + -28.202, + 160.602, + 1.862 + ], + [ + -1897.424, + 173.177, + 68.529, + -28.189, + 135.614, + 1.872 + ], + [ + -1894.511, + 182.258, + 67.862, + -28.215, + 110.585, + 1.849 + ], + [ + -1833.703, + 291.946, + 67.675, + -28.202, + 110.599, + 1.858 + ], + [ + -1827.349, + 297.682, + 68.876, + -28.198, + 85.602, + 1.865 + ], + [ + -1725.501, + 371.612, + 68.593, + -28.2, + 85.602, + 1.865 + ], + [ + -1622.743, + 444.798, + 78.768, + -28.194, + 85.606, + 1.865 + ], + [ + -1611.574, + 426.532, + 120.25, + 0.0, + 35.458, + -0.0 + ], + [ + -1611.574, + 426.532, + 120.25, + 0.0, + 35.458, + -0.0 + ] + ], + "PD_Dist_2D": [ + 412.4, + 412.4, + 287.0, + 162.1, + 21.4, + 20.4, + 20.2, + 21.4, + 20.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato and the trash bag beside the bin sit right of my current heading, across the street ahead. I will turn right so the tomato is centered before I start walking toward it.", + "The tomato beside the trash bin and bag is now centered in front of me but still far across the road. I will step forward to close that distance before any grasp is possible.", + "The tomato has grown noticeably larger at the curb next to the bin, yet it is still beyond arm's reach. Another step forward should bring me close enough to attempt a pick.", + "The tomato now fills the lower part of my view right at the curb beside the bin and bag, well within reach. I will attempt to pick it up so I can carry it toward the mailbox.", + "The grasp worked and the tomato is in my hands, no longer resting on the ground by the bin. The mailbox stands back down the street to my left, so I will turn left to swing my heading that way.", + "I am still carrying the tomato, but my view faces the house front and the bin edge rather than the mailbox. A further left turn should bring the mailbox post along the sidewalk into my path of travel.", + "The mailbox post is now visible ahead on the left beside the sidewalk, and I still hold the tomato. I will walk forward along the street to close the remaining gap to it.", + "The mailbox is now clearly in front of me but sits off to the left side of my heading, partly behind the shrubs. I will turn left to line up squarely with it before stepping the rest of the way in.", + "The tomato is still in my hands, and the white mailbox on its wooden post now stands ahead of me on the right side of the sidewalk. It is still several strides away, too far to release the tomato near it. I will walk forward along the walkway to close that gap.", + "The mailbox is much larger in view now and sits just off my right shoulder, but I am still short of being right beside its post. Another step forward should bring me level with it so the tomato can be released nearby. I keep carrying the tomato as I advance.", + "The mailbox now fills my view at arm's length, so I am standing directly beside its post with the tomato still in hand. This is close enough to satisfy dropping it near the mailbox. I will release the tomato here.", + "The tomato now rests on the ground right beside the mailbox post and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001799_y-002178_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001799_y-002178_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b1775b0f4686b2008c9e589ec3ac7de1f3be3f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001799_y-002178_z000169_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the refrigerator.", + "Type": 0, + "Start_Pose": [ + -1798.672, + -2178.116, + 168.71, + -0.051, + 41.878, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1798.672, + -2178.116, + 168.71, + -0.051, + 41.878, + -0.0 + ], + [ + -1704.961, + -2094.099, + 168.15, + -0.051, + 41.878, + -0.0 + ], + [ + -1611.251, + -2010.083, + 168.15, + -0.051, + 41.878, + -0.0 + ], + [ + -1517.54, + -1926.066, + 168.15, + -0.051, + 41.878, + -0.0 + ], + [ + -1517.54, + -1926.066, + 168.15, + -0.051, + 16.878, + -0.0 + ], + [ + -1397.103, + -1889.525, + 168.764, + -0.051, + 16.878, + -0.0 + ], + [ + -1397.103, + -1889.525, + 168.764, + -0.051, + -8.122, + -0.0 + ], + [ + -1284.069, + -1907.062, + 168.943, + -0.051, + -8.122, + -0.0 + ], + [ + -1284.069, + -1907.062, + 168.943, + -0.051, + -8.122, + -0.0 + ] + ], + "Rationale": [ + "Through the wide opening ahead on my left I can see a kitchen with a pale refrigerator standing beside the stove, which is the target I need to reach. The hallway floor in front of me is clear, so I will step forward to close some of that distance before adjusting my heading.", + "The kitchen counters and cabinets on my left are now much larger in my view, so I am clearly getting nearer to the refrigerator area. The path straight ahead past the column remains open, so I will keep advancing before turning toward the appliance.", + "The refrigerator is now plainly in sight on the left, tucked between the oven and the glass-front cabinets, but it is still several steps away and off to the side of my heading. I will move forward again to bring myself level with that side of the kitchen.", + "The refrigerator has slid to the far left edge of my view while my body still faces the dining table and windows ahead. I will turn left to swing my heading onto the appliance so I can walk straight at it.", + "After the turn the refrigerator sits in the left half of my view with clear floor between us, so my heading is close enough to make progress. I will step forward to shorten the remaining gap to the appliance.", + "I am now close to the kitchen wall, but the refrigerator has drifted to the left side of my view while the cabinets and side table fill the center. I will turn left again to place the refrigerator squarely in front of me.", + "The refrigerator now stands near the middle of my view with its handles clearly facing me, so my heading is aligned with it. A short step forward should bring me right up to its door.", + "The refrigerator door and its handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001818_y-002164_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001818_y-002164_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..154d09a14a4e0e7a592423818c0d5f5dba527694 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001818_y-002164_z000169_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the surroundings and go to the television.", + "Type": 1, + "Start_Pose": [ + -1818.43, + -2163.996, + 168.793, + -0.051, + 12.073, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1818.43, + -2163.996, + 168.793, + -0.051, + 12.073, + 0.0 + ], + [ + -1818.43, + -2163.996, + 168.793, + -0.051, + 37.073, + -0.0 + ], + [ + -1818.43, + -2163.996, + 168.793, + -0.051, + 62.073, + -0.0 + ], + [ + -1818.43, + -2163.996, + 168.793, + -0.051, + 37.073, + -0.0 + ], + [ + -1719.062, + -2109.922, + 168.15, + -0.051, + 37.073, + -0.0 + ], + [ + -1719.062, + -2109.922, + 168.15, + -0.051, + 62.073, + -0.0 + ], + [ + -1660.116, + -1998.72, + 168.15, + -0.051, + 62.073, + -0.0 + ], + [ + -1601.17, + -1887.518, + 168.15, + -0.051, + 62.073, + -0.0 + ], + [ + -1546.882, + -1831.493, + 168.15, + -0.051, + 62.073, + -0.0 + ], + [ + -1495.081, + -1827.615, + 168.15, + -0.051, + 62.073, + -0.0 + ], + [ + -1495.081, + -1827.615, + 168.15, + -0.051, + 87.073, + 0.0 + ], + [ + -1467.853, + -1736.022, + 168.15, + -0.051, + 87.073, + 0.0 + ], + [ + -1467.853, + -1736.022, + 168.15, + -0.051, + 112.073, + 0.0 + ], + [ + -1502.79, + -1620.069, + 168.15, + -0.051, + 112.073, + 0.0 + ], + [ + -1502.79, + -1620.069, + 168.15, + -0.051, + 137.073, + 0.0 + ], + [ + -1524.638, + -1560.941, + 169.11, + -0.051, + 137.073, + 0.0 + ], + [ + -1524.638, + -1560.941, + 169.11, + -0.051, + 137.073, + 0.0 + ] + ], + "Rationale": [ + "From this starting spot I only see a blank wall filling the left side and a kitchen pass-through ahead, with no television anywhere in view. The room appears to open up toward my right, where a sofa and bright windows suggest a living area, so I will turn right to begin a consistent scan in that direction.", + "The living area is now clearer with a large sofa, dining table and bright windows ahead, but I still cannot see a television. Continuing the same rightward scan should reveal more of that far wall and the space beyond the sofa.", + "Turning further right has put a close wall across the right half of my view, so this heading gives me almost no new information about the room. I will turn back left to recover the open sightline into the furnished living area, which is the more promising direction for finding a television.", + "With the wall out of the way I can see the whole living area again, and near the far right edge by the windows there is a small glowing screen that may be the television. It is far off, so I will walk forward across the open floor to close distance and get a clearer look.", + "Moving forward brought me deeper into the living room, but the candidate screen I glimpsed sits farther to my right, past the sofa and the lamp. I will turn right to bring that corner of the room into the center of my view.", + "A screen with a bright blue display is now clearly visible on the low dresser under the far window, past the brown sofa on the right side of the living room. That matches the television I am looking for, so instead of scanning further I will commit and walk straight ahead to close the open floor distance toward it.", + "The television on the dresser under the window has grown noticeably larger and the dining table on the left is closer, so my previous step made real headway. I will keep walking forward along this open stretch of floor to reduce the remaining distance to the screen.", + "The television is now plainly visible at close range on the right, sitting on the white dresser beside the lamp, while the sofa back occupies the near foreground. There is still open floor between me and that corner, so I will step forward again to bring myself into the nook where the screen stands.", + "My heading has drifted left of the target: the dining table and window now fill the center while the television has slipped to the far right edge of my view. I will still advance a short distance to get level with that corner of the room before correcting my facing toward the screen.", + "I have walked too far to the left and the television has dropped out of view entirely, leaving only the dining table, cabinet, and windows in front of me while the last forward step gained noticeably less ground. Turning right should swing my heading back toward the dresser corner where the lit screen was standing.", + "The television is now clearly in view on the low white dresser under the far window, to the right of the dining table, so the search is settled and I can commit to it. I will walk forward across the open floor to close the remaining distance toward that corner.", + "After stepping forward, the television has slid to the far right edge of my view while the dining table and curtained window now dominate the center, so my heading is off target. I will turn right to bring the screen back toward the middle of my view before advancing again.", + "The turn worked, and the television with its lamp and dresser now sits squarely in the middle of my view with open floor between us. I will step forward to shorten that gap toward the television.", + "This forward step again carried the television toward the right side of my view, with a blank wall filling the left half, so my approach line has drifted past it. I will turn right once more to face the screen more directly before closing in.", + "The correction has the television back near the center of my view, standing on the dresser only a short distance ahead. I will take one more step forward to stand right at it.", + "The powered-on television fills the view right in front of me at arm's length on the dresser. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001859_y000150_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001859_y000150_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b62e956da380116bb6a33127bdc65942ad80ac --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001859_y000150_z000098_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the left side of the fence.", + "Type": 2, + "Start_Pose": [ + -1859.458, + 150.335, + 98.15, + -0.301, + -91.739, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1859.458, + 150.335, + 98.15, + -0.301, + -91.739, + -0.0 + ], + [ + -1863.277, + 24.536, + 98.15, + -0.301, + -91.739, + -0.0 + ], + [ + -1867.097, + -101.264, + 98.15, + -0.301, + -91.739, + -0.0 + ], + [ + -1867.097, + -101.264, + 98.15, + -0.301, + -116.739, + -0.0 + ], + [ + -1923.723, + -213.662, + 98.15, + -0.301, + -116.739, + -0.0 + ], + [ + -1980.35, + -326.061, + 98.15, + -0.301, + -116.739, + -0.0 + ], + [ + -2036.976, + -438.46, + 98.15, + -0.301, + -116.739, + -0.0 + ], + [ + -2036.976, + -438.46, + 98.15, + -0.301, + -141.739, + -0.0 + ], + [ + -2135.799, + -516.396, + 110.405, + -0.301, + -141.739, + -0.0 + ], + [ + -2234.622, + -594.333, + 120.056, + -0.301, + -141.739, + -0.0 + ], + [ + -2333.445, + -672.269, + 113.16, + -0.301, + -141.739, + -0.0 + ], + [ + -2431.938, + -743.066, + 113.948, + -0.301, + -141.739, + -0.0 + ], + [ + -2431.938, + -743.066, + 113.948, + -0.301, + -141.739, + -0.0 + ] + ], + "Rationale": [ + "The white picket fence runs across the front yard ahead of me, and the end I want is the far one on the left, where the pickets stop beside the walkway near the neighboring drive. I am still on the roadway, too far off to be at any part of it. I will step forward to close on the yard.", + "The fence has grown noticeably wider in front of me, so my heading across the street is good. I am still out on the pavement with the grass verge between me and the pickets. Another step forward should bring me up to the near edge of the yard.", + "I am now close to the fence, but my heading points straight at its middle stretch, while the end I am aiming for lies off to my left, where the pickets run out toward the walkway. Continuing straight would only press me into the middle of the railing. I will turn left to face along the fence toward that end.", + "The turn opened up the leftward stretch of the yard, with the pickets sweeping away toward the tree and walkway on my left. Nothing blocks the grass strip ahead of me. I will walk forward to work along the fence toward its left end.", + "The pickets are closer and the hedge beside the driveway on the left is coming into clearer view, so I am still tracking the correct end of the fence. My path along the verge stays clear. I will keep walking forward.", + "The fence now fills much of my view at close range, and its far end still lies ahead and to my left past the hedge. I am not level with that end yet. Another step forward should carry me nearer to it.", + "From here the pickets stretch across my view and their end sits over on my left, beyond the hedge where the walkway cuts through. Facing this way would take me alongside the middle of the railing rather than to that end. I will turn left to bring it in front of me.", + "The turn has put the walkway and the left run of the fence squarely ahead, with the gate post and the hedge just beyond it. The paved path in front of me is clear. I will step forward toward that end of the fence.", + "The picket run slides past on my right and its last posts sit a little further along, just short of the hedge that borders the drive. The walkway underfoot stays open with nothing in the way. I will keep stepping along it.", + "The pickets on my right now break off at a thicker white post, and the driveway with its garage doors opens beyond, so the end of the railing is close ahead. I am not quite level with that post yet. Another step should bring me beside it.", + "The heavy end post of the railing is right beside me now, with the hedge and the paved path just past it. A short final step should set me level with that end rather than a stride behind it. I will move up.", + "The fence's end post stands directly in front of me, with no more pickets beyond it. I am at the left side of the fence, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001896_y-001704_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001896_y-001704_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e778d02571efbffc78f2de2bfa32385a028ef0df --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001896_y-001704_z000168_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the bedside lamp first, then move to the door.", + "Type": 3, + "Start_Pose": [ + -1895.696, + -1704.361, + 168.132, + -0.051, + -147.887, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1895.696, + -1704.361, + 168.132, + -0.051, + -147.887, + 0.0 + ], + [ + -2002.064, + -1762.763, + 168.132, + -0.051, + -147.887, + 0.0 + ], + [ + -2002.064, + -1762.763, + 168.132, + -0.051, + -172.887, + 0.0 + ], + [ + -2126.812, + -1772.301, + 168.132, + -0.051, + -172.887, + 0.0 + ], + [ + -2251.125, + -1789.45, + 168.132, + -0.051, + -172.887, + 0.0 + ], + [ + -2251.125, + -1789.45, + 168.132, + -0.051, + -172.887, + 0.0 + ], + [ + -2251.125, + -1789.45, + 168.132, + -0.051, + -147.887, + 0.0 + ], + [ + -2251.125, + -1789.45, + 168.132, + -0.051, + -122.887, + 0.0 + ], + [ + -2251.125, + -1789.45, + 168.132, + -0.051, + -97.887, + -0.0 + ], + [ + -2251.125, + -1789.45, + 168.132, + -0.051, + -72.887, + -0.0 + ], + [ + -2214.09, + -1909.737, + 168.132, + -0.051, + -72.887, + -0.0 + ], + [ + -2177.055, + -2030.024, + 168.132, + -0.051, + -72.887, + -0.0 + ], + [ + -2177.055, + -2030.024, + 168.132, + -0.051, + -72.887, + -0.0 + ] + ], + "Rationale": [ + "The lit bedside lamp glows on the little table beside the bed far to my left, and the panelled door sits on the right wall. Since the lamp is my first destination and it is well across the room, I will walk forward to cut the distance before angling toward it.", + "After advancing, the wardrobe now dominates the center and the glowing lamp has slipped to the far left edge of my view. I will turn left so the lamp and its table come back into the middle of my heading before I continue toward them.", + "The turn has brought the bed and the softly lit lamp on its round table into clear view ahead of me. Nothing blocks the open floor between us, so I will walk forward to close on the lamp.", + "The lamp shade is much larger now, sitting on its table between the bed's headboard and the wardrobe. I am still a stride or two short of standing at it, so I will step forward again.", + "The glowing lamp shade fills the bottom of my view at arm's length, with the bed rail just beside it and the wall right in front of me. I have reached the bedside lamp. I mark reaching it and now turn my attention to the panelled door on the far wall.", + "Standing at the lamp, I face nothing but patterned wall, so the door is nowhere in my view. The door lies back across the room to my right, so I will turn right to begin swinging my heading around toward it.", + "The rotation has brought the tall wardrobe doors and drawers into the right side of my view, but the room's exit door is still out of sight. I will keep turning right to sweep past the wardrobe toward the far wall.", + "The wardrobe now stands across the left of my view and the framed seaside painting has appeared on the wall to the right, with open floor beyond it. The door should lie a little further around, so I will turn right once more.", + "The white panelled door with its brass handle now sits at the right edge of my view, with the wardrobe still filling the left half. One more turn to the right should bring the doorway into the middle of my heading so I can walk straight at it.", + "The door is now centred ahead of me with clear floor between us and nothing in the way. I will walk forward to close the gap toward it.", + "The door frame now fills most of my view and the handle is clearly visible, but I am still a step or two short of standing at it. Another step forward should put me right in front of the door.", + "The door handle and its panels are directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001901_y-002237_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001901_y-002237_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2bdb78e5732cefc274c0a3075ec76f9f749872cd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001901_y-002237_z000169_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door on the left side of the hallway.", + "Type": 4, + "Start_Pose": [ + -1901.164, + -2236.744, + 168.739, + 0.0, + 145.781, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1901.164, + -2236.744, + 168.739, + 0.0, + 145.781, + -0.0 + ], + [ + -2005.236, + -2165.966, + 168.739, + 0.0, + 145.781, + -0.0 + ], + [ + -2103.147, + -2146.953, + 168.15, + 0.0, + 145.781, + -0.0 + ], + [ + -2103.147, + -2146.953, + 168.15, + 0.0, + 145.781, + -0.0 + ], + [ + -2103.147, + -2146.953, + 168.15, + 0.0, + 145.781, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door with its brass knob is set into the left wall of the hallway, but it is still several steps ahead of me. I will move forward along the hallway to close that distance before I can reach the handle.", + "The paneled door now fills most of my view on the left, yet the knob and lever still sit slightly ahead of me rather than directly at arm's length. One more short advance should bring the handle into comfortable reach for the interaction.", + "I am now right beside the door, with its brass lever and lock plate clearly within arm's reach in front of me. This is the target white paneled door on the left of the hallway, so I will attempt to open it from here.", + "The doorway now stands open, revealing the bedroom with its window and bed beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001914_y-002026_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001914_y-002026_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9d04af34f6d1b19d8f3d20914621f6cfbbba576 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001914_y-002026_z000168_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Turn away from the floral-wallpapered corner, locate a door, and open it.", + "Type": 4, + "Start_Pose": [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 12.511, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 12.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 37.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 62.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 87.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 112.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 137.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + 162.511, + -0.0 + ], + [ + -1913.818, + -2025.93, + 168.15, + 0.0, + -172.489, + 0.0 + ], + [ + -2038.597, + -2042.382, + 168.15, + 0.0, + -172.489, + 0.0 + ], + [ + -2038.597, + -2042.382, + 168.15, + 0.0, + -147.489, + 0.0 + ], + [ + -2038.597, + -2042.382, + 168.15, + 0.0, + -122.489, + 0.0 + ], + [ + -2098.669, + -2048.392, + 168.15, + 0.0, + -122.489, + 0.0 + ], + [ + -2098.669, + -2048.392, + 168.15, + 0.0, + -122.489, + 0.0 + ], + [ + -2098.669, + -2048.392, + 168.15, + 0.0, + -122.489, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing a floral-papered corner with a wall sconce, so almost nothing usable is in view. I will turn right to begin sweeping the room away from this corner and look for a door.", + "The sweep now shows a bed headboard and a framed picture, but still no doorway. I will continue turning right to bring more of the room's walls into view.", + "Ahead of me is the bed, a plant and a curtained window, which confirms this wall carries windows rather than a door. I will keep turning right to inspect the next stretch of wall.", + "Two windows and a chest of drawers fill this side of the room, so the exit must lie further around. I will turn right again to continue scanning past the windows.", + "I can now see a second bed, a lamp and more window wall, but nothing that looks like a room door. I will keep rotating right toward the still unseen wall on that side.", + "I now see built-in wardrobe doors ahead and the right edge of my view is opening onto a further wall. I will turn right once more to reveal that wall fully, since a hinged room door is more likely there than in the fitted cupboards.", + "A tall white panel door with a brass knob has just appeared at the right edge of my view. I will turn right again to bring that door closer to the center of my heading.", + "The panel door with its brass knob and handle is now clearly in view on my right, a short way across the room. I will move forward to close the distance toward it before lining up with the handle.", + "The panelled door with its brass knob and lever now sits at the right edge of my view, so I am still facing partly along the wall rather than at the door. I will turn right to swing my heading toward the door face and bring its handle toward the center of my view.", + "The door and its handle are closer to center now but still offset to the left of my heading, with the frame and wall edge cutting across my view. I will turn right again to bring my body square with the door leaf, since I am still angled across its face rather than standing along it.", + "The door leaf now fills my view with the knob and lever handle plainly ahead of me, so my heading is aligned with the door. I am still a step back from it, so I will move forward to close the remaining gap and get within reach of the handle.", + "I am now right at the door, with the brass lever and keyed knob filling my view at close range, clearly within reach. I will operate the handle to try to open this door as the task requires.", + "I see the door standing open with the hallway, its rug and wall lamp visible beyond the frame. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001915_y-001763_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001915_y-001763_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85e727bb2e0934260ee8f91f6cbac9c4e7917916 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001915_y-001763_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the painting on the left side of your view.", + "Type": 2, + "Start_Pose": [ + -1915.145, + -1762.809, + 168.15, + -0.051, + -119.31, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1915.145, + -1762.809, + 168.15, + -0.051, + -119.31, + 0.0 + ], + [ + -1915.145, + -1762.809, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2011.516, + -1762.843, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2111.249, + -1804.485, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2111.249, + -1804.485, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2172.861, + -1914.231, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2234.473, + -2023.978, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2234.473, + -2023.978, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2234.473, + -2023.978, + 168.15, + -0.051, + -119.31, + -0.0 + ] + ], + "Rationale": [ + "Two paintings hang in this room, a large seascape on the wall to my right and a smaller one on the left near the doorway, and the left one is my target. It sits well off my current heading, so I will turn left to bring that painting and its wall toward the middle of what I face.", + "The small painting I chose now hangs ahead of me on the wall beside the closed door, past the wardrobe. It is still far across the room, so I will walk forward to close that distance.", + "The painting has grown noticeably and I can make out its palm trees and railing, so I am on the right line toward it. There is still open floor between me and that wall, so I will step forward again.", + "The wardrobe now fills most of what is in front of me and the palm-tree painting has slipped over to my right side. I will turn right to bring that painting back toward the center of my heading before advancing further.", + "The turn worked, and the palm-tree painting sits ahead of me on the wall between the wardrobe and the door. With clear floor in front, I will walk forward to reach it.", + "The painting is now large and close, hanging just ahead and slightly above my eye line on the wall next to the corner. One more step forward should bring me right up to it.", + "I am standing right against the wall, with only the dark lower edge of the painting showing high above me while patterned wallpaper fills everything else. I will look up so the painting itself is properly in front of me and I can confirm I have arrived at it.", + "The palm-tree painting hangs directly in front of me, close enough to fill much of what I face. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001915_y-002009_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001915_y-002009_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..caae90714f8560ffacf3d657de2f5d6444414d3c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001915_y-002009_z000168_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Open the nearby white paneled door on the floral-wallpapered wall.", + "Type": 4, + "Start_Pose": [ + -1915.081, + -2009.309, + 168.15, + 0.0, + -124.663, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1915.081, + -2009.309, + 168.15, + 0.0, + -124.663, + 0.0 + ], + [ + -1915.081, + -2009.309, + 168.15, + 0.0, + -149.663, + 0.0 + ], + [ + -2022.761, + -2047.927, + 168.15, + 0.0, + -149.663, + 0.0 + ], + [ + -2022.761, + -2047.927, + 168.15, + 0.0, + -124.663, + 0.0 + ], + [ + -2022.761, + -2047.927, + 168.15, + 0.0, + -124.663, + 0.0 + ], + [ + -2022.761, + -2047.927, + 168.15, + 0.0, + -124.663, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits at the far left edge of my view, mostly cut off by the floral wallpapered wall filling the rest of the frame. I will turn left to bring that door and the floor in front of it into clear view before moving.", + "The white paneled door on the floral wallpapered wall is now centered ahead of me, but still several steps away down the open hallway floor. I will move forward along the clear wooden floor to get within reach of its handle.", + "I am now close to the paneled door, but it fills the right half of my view at an angle while the wardrobe and hallway occupy the left. I will turn right to square my heading with the door leaf and put its handle near the center of my view for the interaction.", + "The white paneled door leaf and its brass handle are directly in front of me at arm's length, with the frame edge visible beside them. This is the door on the floral wallpapered wall named in my task, so I will try to open it from here.", + "I can see the doorway standing open with the adjoining room, bench, and rug beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001924_y000665_z000114_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001924_y000665_z000114_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1305ba4e974d88600bf331790ccccccf91bb1e30 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001924_y000665_z000114_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the mailbox first, then go to the US flag on the front porch beam.", + "Type": 3, + "Start_Pose": [ + -1924.351, + 665.053, + 113.948, + -0.301, + 4.347, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1924.351, + 665.053, + 113.948, + -0.301, + 4.347, + 0.0 + ], + [ + -1924.351, + 665.053, + 113.948, + -0.301, + -20.653, + 0.0 + ], + [ + -1806.582, + 620.662, + 113.948, + -0.301, + -20.653, + 0.0 + ], + [ + -1688.813, + 576.271, + 116.643, + -0.301, + -20.653, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + -20.653, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + -45.653, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + -45.653, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + -20.653, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + 4.347, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + 29.347, + 0.0 + ], + [ + -1581.482, + 545.498, + 119.675, + -0.301, + 54.347, + -0.0 + ], + [ + -1508.123, + 647.765, + 113.733, + -0.301, + 54.347, + -0.0 + ], + [ + -1508.123, + 647.765, + 113.733, + -0.301, + 79.347, + -0.0 + ], + [ + -1484.857, + 771.453, + 115.165, + -0.301, + 79.347, + -0.0 + ], + [ + -1461.591, + 895.141, + 123.336, + -0.301, + 79.347, + -0.0 + ], + [ + -1438.325, + 1018.829, + 131.507, + -0.301, + 79.347, + -0.0 + ], + [ + -1415.059, + 1142.517, + 139.679, + -0.301, + 79.347, + -0.0 + ], + [ + -1415.059, + 1142.517, + 139.679, + -0.301, + 54.347, + -0.0 + ], + [ + -1415.059, + 1142.517, + 139.679, + -0.301, + 54.347, + -0.0 + ], + [ + -1415.059, + 1142.517, + 139.679, + -0.301, + 54.347, + -0.0 + ] + ], + "Rationale": [ + "The white mailbox on its wooden post stands off to my left along the curb, while my body is aimed straight down the sidewalk past it. I will turn left so that post sits closer to the center of my path before I start walking. That heading should let me close on it directly.", + "The mailbox on its post is now ahead and slightly left of me, with clear sidewalk and grass verge between us. I will walk forward to cut that distance. Nothing blocks the lane, so the step should bring the post noticeably closer.", + "The mailbox has grown larger and its post is clearly visible just left of my line of travel, but I am still several paces short of it. I will keep walking forward along the verge. Another stride should put me almost level with the post.", + "The mailbox and its wooden post now fill the left of my view at close range, so only a short gap remains before I am beside it. I will step forward once more to draw level with the box. That should place me right at the curbside post.", + "I have drawn level with the curbside post, and the mailbox has slipped out of my forward view toward my left shoulder. I will turn left to face it squarely and confirm I am standing at it. That should bring the box and post back in front of me.", + "The weathered post and the metal mailbox stand right beside me, filling the near left of my view at arm's reach. I have reached the mailbox. I mark reaching it and now set off for the American flag hanging from the front porch beam of the house behind me.", + "With the mailbox reached, the post now crowds my view and the porches I want lie behind my right shoulder, across the sidewalk. I will turn right to swing off the curb and back toward the houses. This should start bringing the fenced front yards into view.", + "My view has cleared of the post and now shows the road and the tree ahead, but the houses with their porch beams still sit further to my right. I will turn right again to keep swinging toward them. The sidewalk and picket fence should come around into my path.", + "Having marked the mailbox, I now need the house porch with the flag, which sits off to my right behind the picket fence and driveway. The porch beam itself is still hidden by the gable and the roadside tree, so I keep pivoting right. This turn should bring more of that front porch into view.", + "The US flag is now visible hanging from the covered porch beam of the house ahead on my right. It still sits off to the right edge rather than in front of me, so another turn in that direction is needed. This pivot should put the porch and its walkway squarely ahead.", + "The porch with the flag on its beam is now facing me, with the front walk running from the sidewalk up to the door. Nothing blocks the paved route, so I step forward to close the remaining distance. This should bring me off the sidewalk and nearer the front yard walk.", + "From here the front walk to the porch opens slightly to my right, while my heading points past the flag toward the garage side of the house. A small pivot right should line me up straight down that walk with the flagged beam ahead. Then I can advance without cutting through the flower beds.", + "The walkway now runs dead ahead to the porch steps, with the flag hanging from the beam above the left end of the porch. I am still out at the yard edge, too far to count as arrived. Walking forward along the path should close that gap.", + "The porch fills more of my view and the flag on the beam is now clearly to the upper left, but I am still between the flowering shrubs rather than at the porch itself. The paved path continues unobstructed to the deck. Another step forward should bring me under the porch roof line.", + "The flag now hangs prominently from the beam at my upper left and the porch decking is just beyond the last stretch of walk. I still stand on the ground path rather than at the porch edge. Moving forward again should place me close under that beam.", + "I am at the very edge of the porch, with the flag and its beam right above me on the left and the deck open ahead. A final step forward should carry me onto the porch itself, directly beneath the flag. That should put me close enough to confirm arrival.", + "I am on the porch deck now, but my heading is squared onto the front door and siding, with only chairs to my right and the flowerpot at the left edge. The porch posts and roof beams that carry the flag lie further to my left, so I turn that way to bring the beam line into view.", + "The turn has put the corner post and the underside of the porch roof directly ahead of me, but my gaze is level with the deck and the door, so the beam itself sits above my sightline. I look up to raise my view onto that beam where the flag should be mounted.", + "The US flag hangs from its staff on the porch beam directly above me, close and fully in view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001927_y-001593_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001927_y-001593_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a1b815b702d6e5d181a3ac53355964e92b62789 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001927_y-001593_z000168_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the side table on the left.", + "Type": 2, + "Start_Pose": [ + -1926.997, + -1592.802, + 168.15, + -0.051, + -119.31, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1926.997, + -1592.802, + 168.15, + -0.051, + -119.31, + 0.0 + ], + [ + -1988.609, + -1702.549, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -1988.609, + -1702.549, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2090.83, + -1775.975, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2090.83, + -1775.975, + 168.15, + -0.051, + -169.31, + -0.0 + ], + [ + -2214.505, + -1799.321, + 168.15, + -0.051, + -169.31, + -0.0 + ], + [ + -2214.505, + -1799.321, + 168.15, + -0.051, + 165.69, + -0.0 + ], + [ + -2294.955, + -1780.317, + 168.15, + -0.051, + 165.69, + -0.0 + ], + [ + -2294.955, + -1780.317, + 168.15, + -0.051, + 165.69, + -0.0 + ], + [ + -2294.955, + -1780.317, + 168.15, + -0.051, + 165.69, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the small lamp table tucked against the far left wall beside the single bed, while the large bed and wardrobe fill the right side. I will walk forward into the open floor first, since I am still too far back to angle toward that corner.", + "Advancing has pushed the lamp table out of my view, leaving only the wardrobe and the panelled door ahead of me. Turning left should swing my heading back toward that corner of the room where the small table stands beside the single bed.", + "The turn has brought the small round table with its lit lamp back into view, standing at the head of the single bed on the left. The floor between me and it is clear, so I will step forward to cut down the distance.", + "My heading now points straight at the wardrobe wall, with the lamp table pushed to the far left edge of my view behind the corner. I will turn left again to face the table and the single bed more directly.", + "The lamp table sits clearly ahead and slightly left, next to the headboard of the single bed, with open floor in between. I will walk forward to close in on it.", + "I am now close enough that the wall corner and wardrobe dominate my view, with the lit lamp and its table slipping toward the lower left. A left turn should bring the table back to the center of my view before the final step.", + "The round table with the lit lamp is centered ahead of me, tight against the wall beside the single bed. Only a short gap remains, so I will step forward to stand right at it.", + "I am right up against the wall now, and only the top of the lampshade shows at the bottom of my view while the patterned wallpaper fills the rest. I will look down so the tabletop beside the bed comes into view and I can confirm I am standing at it.", + "The round lamp table beside the single bed fills my view at arm's length. I have reached it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001929_y-001994_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001929_y-001994_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6a519e6a2946ba9e01171dda3d78c48035afed --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001929_y-001994_z000168_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the room to find the green plant and get close to it.", + "Type": 1, + "Start_Pose": [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 173.26, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 173.26, + 0.0 + ], + [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 148.26, + -0.0 + ], + [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 123.26, + 0.0 + ], + [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 98.26, + 0.0 + ], + [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 123.26, + 0.0 + ], + [ + -1929.464, + -1993.508, + 168.15, + -0.051, + 148.26, + 0.0 + ], + [ + -2031.626, + -1993.449, + 168.15, + -0.051, + 148.26, + 0.0 + ], + [ + -2031.626, + -1993.449, + 168.15, + -0.051, + 123.26, + 0.0 + ], + [ + -2102.495, + -1934.367, + 168.15, + -0.051, + 123.26, + 0.0 + ], + [ + -2102.495, + -1934.367, + 168.15, + -0.051, + 98.26, + 0.0 + ], + [ + -2102.495, + -1934.367, + 168.15, + -0.051, + 73.26, + -0.0 + ], + [ + -2081.82, + -1814.619, + 168.15, + -0.051, + 73.26, + -0.0 + ], + [ + -2081.82, + -1814.619, + 168.15, + -0.051, + 48.26, + -0.0 + ], + [ + -2081.82, + -1814.619, + 168.15, + -0.051, + 23.26, + -0.0 + ], + [ + -2044.17, + -1758.597, + 168.15, + -0.051, + 23.26, + -0.0 + ], + [ + -1928.541, + -1708.895, + 168.15, + -0.051, + 23.26, + -0.0 + ], + [ + -1928.541, + -1708.895, + 168.15, + -0.051, + 23.26, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot I see a bed, a large white wardrobe unit and a door on the right, but no green plant anywhere in this sector. I will turn left to begin a steady scan of the room in one consistent direction. Sweeping toward the window side should reveal parts of the floor and corners that the wardrobe currently hides.", + "The view has opened onto a window wall with a second bed and the wardrobe now sitting to my right, yet there is still no greenery on the floor. I will keep rotating left rather than reversing direction, so the scan stays consistent. More of the far wall and its corners should come into view.", + "Two curtained windows and another bed fill this sector, and the near corner on my left is still cut off from view. I will continue the leftward sweep to expose that remaining corner of the room. Any floor-standing plant would most likely sit against that wall near the furniture.", + "The sweep has paid off: a leafy green plant in a pot stands on the far left beside the tall chest of drawers, near the fireplace corner. A striped bed fills the whole foreground between me and that corner, so a straight walk from here is not practical. I will turn right to face the open floor and start routing around the bed toward the plant.", + "The bed still cuts across the lower part of my view, so I am not yet lined up with a clear lane of floor. I will turn right once more to bring the open stretch of boards ahead of me. From there I should be able to walk past the bed instead of into it.", + "Now I am facing a clear span of floor with the wardrobe block on my right and the beds off to my left. I will walk forward along this open lane to get past the bedding and gain room on the far side of the room. That should put me in position to turn back toward the corner where the plant stands.", + "The step forward has brought me deeper into the room, close beside the wardrobe and clear of the bedding. I will turn left to swing my heading back toward the window wall and the corner where I spotted the green plant. That should line up a walkable stretch in the plant's direction.", + "Facing this way I have open boards ahead, with the bed and lamp to my left and the wardrobe edge on my right. I will walk forward along this gap to close distance toward the far end of the room where the plant was standing. A few more steps should bring that corner back into view.", + "From this spot I see the single bed, the curtained window wall, and the edge of the tall cabinet on my right, but no green plant anywhere in this sector. I will keep rotating left in the same consistent direction to sweep the parts of the room still hidden beside and behind that cabinet. This should reveal more floor area where a potted plant could be standing.", + "The new heading shows two curtained windows, a large bed on the right and a white chest of drawers appearing at my left, still with no greenery in sight. I will continue the same leftward turn to bring that far corner near the chest of drawers fully into view. A plant may well be tucked against that wall where I cannot yet see the floor.", + "Now I can clearly see a leafy green potted plant standing in the far left corner beside the tall white cabinet, next to a small round table. That is the target, so instead of continuing the scan I commit to it and walk forward to close the large gap of open floor between us. The step should bring me substantially nearer to that corner.", + "After advancing, the tall chest of drawers and curtains now dominate my view and the potted plant has slipped out to my left beyond what I can currently see. I will turn left to swing my heading back toward that corner where the plant stands. This should put the target back in front of me for a straight approach.", + "The plant is back in sight, its leaves rising left of the tall cabinet beside the small round table, but it sits off to the left of my heading. I will turn left once more to bring it closer to the center of my path. That should let me walk straight at it without clipping the cabinet.", + "The potted plant is now roughly centered ahead of me, between the small round table with the picture frame and the tall white cabinet. With the path across the bare floor clear, I will step forward to shorten the remaining distance to it.", + "The plant is noticeably larger and closer now, its leaves clearly filling the space beside the cabinet, yet I am still a couple of steps short of being right beside it. I will walk forward again to finish closing that gap. This should place me directly next to the plant.", + "The green plant's leaves fill the near left of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001966_y-001061_z000127_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001966_y-001061_z000127_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..29dcc240db26f348b480418e45c5ef3a8ac99158 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001966_y-001061_z000127_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the bush near the raised flower bed.", + "Type": 0, + "Start_Pose": [ + -1965.511, + -1061.355, + 127.039, + -0.051, + -168.154, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1965.511, + -1061.355, + 127.039, + -0.051, + -168.154, + -0.0 + ], + [ + -2088.69, + -1087.192, + 133.88, + -0.051, + -168.154, + -0.0 + ], + [ + -2088.69, + -1087.192, + 133.88, + -0.051, + -143.154, + -0.0 + ], + [ + -2189.408, + -1162.665, + 138.319, + -0.051, + -143.154, + -0.0 + ], + [ + -2290.127, + -1238.138, + 142.758, + -0.051, + -143.154, + -0.0 + ], + [ + -2290.127, + -1238.138, + 142.758, + -0.051, + -168.154, + -0.0 + ], + [ + -2290.127, + -1238.138, + 142.758, + -0.051, + 166.846, + -0.0 + ], + [ + -2290.127, + -1238.138, + 142.758, + -0.051, + 166.846, + -0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the raised brick flower bed with blossoms against the porch on my right, and a row of pale flowering bushes across the yard ahead and to my left. Since the bush I want sits near that raised bed, I will step forward to close the open grass between me and that planting area.", + "After advancing, the raised brick flower bed has grown larger at the right edge of my view while my heading still points across the lawn past it. I will turn right so the raised bed and the paved strip in front of the porch line up ahead of me, which should bring me toward the bushes bordering it.", + "The raised brick flower bed is now squarely ahead of me at the porch edge, with the flowering bushes and paved walkway to its left. I still have several strides of grass to cover, so I will move forward to shorten the gap to that planting area.", + "The raised bed's brick side and its trailing white flowers now fill the lower right of my view, and a leafy bush stands close on my left along the walkway. One more step forward should place me right beside the bed where the bushes border it.", + "I am now right at the porch with the raised planter and its greenery immediately at my lower right, so the house dominates my view instead of the target. The bushes lie off to my left along the walkway, so I will turn left to swing my heading back toward them.", + "The pale flowering bushes and the small raised planter beside them have come into the left half of my view, while the porch still occupies the right. I will turn left once more to bring the bush next to that raised bed to the center of my view directly in front of me.", + "The flowering bush stands immediately in front of me, right beside the raised flower bed at the porch edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db0f22c6dfca080fd3a6ee3dd450f0803dedb28d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the bedside lamp on the table to the left in your view.", + "Type": 2, + "Start_Pose": [ + -1970.555, + -1721.869, + 168.15, + -0.051, + -147.887, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1970.555, + -1721.869, + 168.15, + -0.051, + -147.887, + -0.0 + ], + [ + -1970.555, + -1721.869, + 168.15, + -0.051, + -172.887, + 0.0 + ], + [ + -2095.445, + -1737.454, + 168.15, + -0.051, + -172.887, + 0.0 + ], + [ + -2154.028, + -1770.517, + 168.15, + -0.051, + -172.887, + 0.0 + ], + [ + -2273.051, + -1794.137, + 168.15, + -0.051, + -172.887, + 0.0 + ], + [ + -2273.051, + -1794.137, + 168.15, + -0.051, + -172.887, + 0.0 + ] + ], + "Rationale": [ + "The lit lamp sits on the small round bedside table on the left side of my view, beside the bed, well off my current heading. I will turn left to bring that table and its glowing lamp toward the center of my view before walking.", + "The glowing lamp on the round bedside table beside the bed now sits near the middle of my view, with clear floor between me and it. I will walk forward to close that distance.", + "The lamp and its little table have grown noticeably larger and stay centered ahead of me, so my heading is still good. I am not yet close enough to count as arriving, so I will keep stepping forward.", + "The lamp now fills a good part of my view with the bedside table right beneath it, but a short stretch of floor still separates us. One more step forward should bring me right up to it.", + "The lit bedside lamp is directly in front of me at close range, its shade filling the lower view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9df97fcfc7eaf8247a67e4dcabd94f9ad6b108f6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001971_y-001722_z000168_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the painting on the wall to the left of the doorway.", + "Type": 2, + "Start_Pose": [ + -1970.555, + -1721.869, + 168.15, + -0.051, + -119.31, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1970.555, + -1721.869, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -1970.555, + -1721.869, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2071.217, + -1773.237, + 168.15, + -0.051, + -144.31, + -0.0 + ], + [ + -2071.217, + -1773.237, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2132.83, + -1882.984, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2194.442, + -1992.731, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2194.442, + -1992.731, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2194.442, + -1992.731, + 168.15, + -0.051, + -119.31, + -0.0 + ] + ], + "Rationale": [ + "My target is the small framed landscape hanging on the wall just left of the closed door, not the larger seascape on the right-hand wall behind the bed. The bed juts into the floor directly ahead, so I will turn left to open a clear walking lane along the open part of the room.", + "With my heading swung left, the floor in front of me is open past the wardrobe, and the framed landscape still sits on the wall left of the door on my right side. I will walk forward to close distance toward that end of the room.", + "The framed landscape and the door beside it now sit off to my right, while my heading points at the wardrobe. I will turn right to bring the painting back toward the center of my view before advancing further.", + "The painting is now centered ahead on the wall immediately left of the door, and open floor lies between me and that wall. I will step forward to close the remaining gap toward it.", + "The painting is close now with the door frame just to its right, but I am still a stride short of standing at the wall. I will move forward again to finish the approach.", + "Standing this near the wall, only the lower part of the frame is in my view and the rest is cut off above. I will look up so the whole painting beside the doorway is centered in front of me.", + "The framed landscape on the wall left of the doorway fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002013_y-001600_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002013_y-001600_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a52ec9e1d9c299a1645ba6a77c65a61d7af82bb9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002013_y-001600_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Cross the bedroom to the white door centered between the two framed pictures and open it.", + "Type": 4, + "Start_Pose": [ + -2013.306, + -1600.466, + 168.15, + 0.0, + -83.843, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2013.306, + -1600.466, + 168.15, + 0.0, + -83.843, + 0.0 + ], + [ + -2013.306, + -1600.466, + 168.15, + 0.0, + -108.843, + 0.0 + ], + [ + -2053.955, + -1719.58, + 168.15, + 0.0, + -108.843, + 0.0 + ], + [ + -2096.37, + -1837.751, + 168.15, + 0.0, + -108.843, + 0.0 + ], + [ + -2096.37, + -1837.751, + 168.15, + 0.0, + -83.843, + 0.0 + ], + [ + -2082.871, + -1962.884, + 168.15, + 0.0, + -83.843, + 0.0 + ], + [ + -2070.339, + -2048.378, + 168.15, + 0.0, + -83.843, + 0.0 + ], + [ + -2070.339, + -2048.378, + 168.15, + 0.0, + -83.843, + 0.0 + ], + [ + -2070.339, + -2048.378, + 168.15, + 0.0, + -83.843, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the white door sits left of my heading on the far wall, flanked by the two small framed pictures described in the task, while the bed blocks the straight line ahead of me. I will turn left to bring that door toward the center of my view and open a clear stretch of floor to walk along.", + "The target door is now ahead of me with a picture on either side, and the bare floor between the wardrobe on my left and the bed on my right is unobstructed. I will move forward to close the distance across the bedroom toward that door.", + "The door and its frame have grown noticeably larger and the brass handle is now discernible, so I am still several steps short of reach. I will continue forward along the same clear lane to keep closing on it.", + "At this closer range the door has drifted to the right side of my view, with only one of the flanking pictures still in sight on the left. I will turn right to square up on the door so my remaining approach runs straight at its handle.", + "The door now sits centered between both framed pictures, which matches the target described in the task. I will step forward along this squared heading to bring the handle within reach.", + "The door panel and its lever handle now fill the left portion of my view, so I am nearly against it but slightly short and offset. I will take one more short step forward to settle within arm's reach of the handle.", + "I am pressed right up against the panel of the white door I approached, close enough that its molding fills my view and the frame edge is at my side. The latch should be within reach, so I will try to open it.", + "The door now stands swung open, revealing the space and wall art beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002036_y-000025_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002036_y-000025_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f51199aaec21bbb5b23907e54a123a58fe228fa7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002036_y-000025_z000098_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the mailbox located on the left side.", + "Type": 2, + "Start_Pose": [ + -2035.902, + -25.223, + 98.15, + -0.301, + -120.316, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2035.902, + -25.223, + 98.15, + -0.301, + -120.316, + 0.0 + ], + [ + -2099.431, + -133.87, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2099.431, + -133.87, + 98.15, + -0.301, + -145.316, + 0.0 + ], + [ + -2202.924, + -205.489, + 98.15, + -0.301, + -145.316, + 0.0 + ], + [ + -2306.416, + -277.108, + 98.15, + -0.301, + -145.316, + 0.0 + ], + [ + -2409.909, + -348.727, + 98.15, + -0.301, + -145.316, + 0.0 + ], + [ + -2513.402, + -420.346, + 108.844, + -0.301, + -145.316, + 0.0 + ], + [ + -2513.402, + -420.346, + 108.844, + -0.301, + -145.316, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see the white house with its picket fence, and the mailbox I want stands off to the left of it, a white box with a raised red flag on a wooden cross post beside the low hedge. It is still far down the sidewalk, so I will walk forward to close that gap.", + "The mailbox with the red flag on its wooden post now sits noticeably left of my heading, while my view is filled mostly by the house and its fence on the right. I will turn left to put that post near the center of my path before continuing.", + "After turning, the wooden post carrying the white mailbox with the red flag lies ahead along the grass strip beside the sidewalk, with clear pavement between it and me. I will walk forward toward it.", + "The mailbox and its wooden post have grown larger and sit just ahead of me near the curb, but I am still several paces short of standing at it. Nothing blocks the strip between us, so I keep walking forward.", + "The white box with the red flag is now clearly resolved on its post a short way ahead and slightly left of me, above the ferns at the curb. I will step forward again to bring myself alongside it.", + "The mailbox now fills much of my left foreground, so I am nearly beside it but not yet level with the post. One more step forward should bring me right up to it.", + "The white mailbox with its raised red flag stands directly beside me at arm's reach on its wooden post. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002040_y002287_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002040_y002287_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4fbb9b008f8f9fc4b3f2a44fdeaaa1862c78f2eb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002040_y002287_z000169_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door between the two framed pictures.", + "Type": 4, + "Start_Pose": [ + -2039.829, + 2286.718, + 168.943, + 0.0, + -99.611, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2039.829, + 2286.718, + 168.943, + 0.0, + -99.611, + 0.0 + ], + [ + -2060.842, + 2162.626, + 168.943, + 0.0, + -99.611, + 0.0 + ], + [ + -2081.855, + 2038.533, + 168.275, + 0.0, + -99.611, + 0.0 + ], + [ + -2096.902, + 1954.058, + 168.15, + 0.0, + -99.611, + 0.0 + ], + [ + -2096.902, + 1954.058, + 168.15, + 0.0, + -74.611, + 0.0 + ], + [ + -2096.902, + 1954.058, + 168.15, + 0.0, + -74.611, + 0.0 + ], + [ + -2096.902, + 1954.058, + 168.15, + 0.0, + -74.611, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits ahead of me at the end of this short hallway, with a framed picture on the left wall and another on the right above the cabinet, matching the target described in the task. It is still far out of arm's reach, so I will move forward along the open floor toward it.", + "The paneled door now fills much more of my view and its brass knob and lever are clearly visible, so I am closing on the right target. I am still a step or two short of interaction range, so I will advance again.", + "I am close to the door face and the lever handle is visible at the right of my view, but the panels and jamb still read slightly off to my side rather than squarely in front. A short further step should bring the handle within comfortable reach before I try it.", + "At this distance the door's handle and keyhole sit toward the right edge of my view while the jamb and wall occupy the left, so I am not squarely facing the panel. Turning right should center the lever in front of me for a clean interaction.", + "The lever handle and keyhole are now centered directly in front of me at close range, so the door is squarely within reach. I will operate the handle to try to open this white paneled door.", + "I see the door swung open with the space and shelving beyond it revealed. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002052_y000016_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002052_y000016_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..502600efba32a5d5bdc1d2e6139fc57995c964b8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002052_y000016_z000098_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the base of the large tree trunk.", + "Type": 0, + "Start_Pose": [ + -2052.004, + 15.813, + 98.15, + -0.301, + -63.162, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2052.004, + 15.813, + 98.15, + -0.301, + -63.162, + 0.0 + ], + [ + -1995.183, + -96.488, + 98.15, + -0.301, + -63.162, + -0.0 + ], + [ + -1938.363, + -208.788, + 98.15, + -0.301, + -63.162, + -0.0 + ], + [ + -1881.542, + -321.089, + 98.15, + -0.301, + -63.162, + -0.0 + ], + [ + -1824.721, + -433.39, + 98.15, + -0.301, + -63.162, + -0.0 + ], + [ + -1767.9, + -545.691, + 98.15, + -0.301, + -63.162, + -0.0 + ], + [ + -1767.9, + -545.691, + 98.15, + -0.301, + -38.162, + -0.0 + ], + [ + -1668.943, + -623.456, + 98.15, + -0.301, + -38.162, + -0.0 + ], + [ + -1569.986, + -701.222, + 98.15, + -0.301, + -38.162, + -0.0 + ], + [ + -1471.028, + -778.987, + 98.15, + -0.301, + -38.162, + -0.0 + ], + [ + -1372.071, + -856.753, + 111.472, + -0.301, + -38.162, + -0.0 + ], + [ + -1273.114, + -934.518, + 120.268, + -0.301, + -38.162, + -0.0 + ], + [ + -1273.114, + -934.518, + 120.268, + -0.301, + -38.162, + -0.0 + ] + ], + "Rationale": [ + "I can see the large tree trunk rising from the grass strip ahead on the right, past the parked dark car at the curb. It is still far off, so I will step forward along the street to begin closing that gap.", + "The tree trunk and the car beside it have grown slightly larger in my view, confirming my heading is carrying me toward the target. The road ahead is clear, so I will keep advancing.", + "The trunk now stands clearly to the right of my path, with its base near the grass verge behind the parked car. Distance is still substantial, so another forward step should bring me nearer before I need to adjust my heading.", + "I see the tree trunk still off to my right and slightly ahead, so my current course has not yet passed it. I will continue walking forward to shorten the remaining distance along the street.", + "The trunk is now large in the right portion of my view and its base sits just beyond the curb near the parked car. One more forward step should place me roughly level with it before I turn toward it.", + "The tree trunk has drifted to the right edge of my view while my heading still points down the street, so walking straight would carry me past it. I will turn right to bring the trunk toward the center of my view and line up a direct approach to its base.", + "After turning, the trunk sits more centrally ahead of me with the grass verge and sidewalk beyond the parked car. With my heading now pointed at it, I will step forward to close the remaining distance.", + "The trunk is noticeably closer and its rough bark and base are becoming distinct just past the curb. My heading remains on it, so I will keep moving forward toward the base.", + "The large tree trunk stands just left of center ahead of me, rising out of the grass strip between the sidewalk and the curb, and my heading is already lined up on it. The parked car sits at the right edge of my view and leaves the grass strip clear, so I will step forward to keep closing the remaining distance to the trunk.", + "The trunk now dominates the middle of my view and I can see the ferns and soil around its base, which confirms my line is good but I am still several steps short of it. I will advance again to bring the base within reach.", + "The bark texture is now clearly resolved and the trunk fills the center of my view, with its base in the grass just a short distance in front of my feet. One more forward step should place me right at the base of the trunk.", + "The trunk's bark fills the near half of my view at arm's length, so I am standing at its base. The task is complete and no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002060_y001918_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002060_y001918_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b47b9d8ac1fc0e74335983d5d3324334751b6c2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002060_y001918_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled door to the right of the built-in wardrobe.", + "Type": 4, + "Start_Pose": [ + -2060.469, + 1918.407, + 168.15, + 0.0, + 88.38, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2060.469, + 1918.407, + 168.15, + 0.0, + 88.38, + 0.0 + ], + [ + -2056.911, + 2077.457, + 168.15, + 0.0, + 88.38, + -0.0 + ], + [ + -2056.911, + 2077.457, + 168.15, + 0.0, + 113.38, + -0.0 + ], + [ + -2106.855, + 2192.982, + 168.838, + 0.0, + 113.38, + -0.0 + ], + [ + -2106.855, + 2192.982, + 168.838, + 0.0, + 138.38, + -0.0 + ], + [ + -2106.855, + 2192.982, + 168.838, + 0.0, + 163.38, + -0.0 + ], + [ + -2152.994, + 2237.385, + 168.15, + 0.0, + 163.38, + -0.0 + ], + [ + -2152.994, + 2237.385, + 168.15, + 0.0, + 163.38, + -0.0 + ], + [ + -2152.994, + 2237.385, + 168.15, + 0.0, + 163.38, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the doorway I can see the built-in wardrobe ahead on the left and a white paneled door set into the wall to its right. I will move forward across the rug to close the distance before turning toward that door.", + "After advancing, the wardrobe now fills the left side of my view and the target paneled door sits at the far right edge, only partly visible. I will turn right to bring that door into the center of my view.", + "The white paneled door with its brass lever handle is now clearly in front of me on the right side of the alcove wall. I will move forward to get within reach of that handle.", + "Standing close now, most of my view is taken up by the blank corner wall, with the door edge pushed to the right side. I will turn right to face the door leaf and its handle squarely.", + "The door panels now dominate my view, but the lever handle and lock are still crowded against the right edge. I will turn right once more so the handle sits centered ahead of me.", + "I am now squarely facing the white paneled door with its brass lever handle centered in view, and the frame and light switch confirm this is the door beside the wardrobe wall. I will step forward slightly so the handle is within comfortable reach.", + "I am directly against the paneled door face, close enough that only its panels and stiles fill my view, so the handle is within arm's reach. I will operate the handle now, which should swing this door open.", + "The paneled door now stands open, revealing the bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002065_y-001580_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002065_y-001580_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..697d3cb7ef25502e3efa4c0789376fead344f211 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002065_y-001580_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Turn away from the tall built-in wardrobe, locate the bedroom door, and open it.", + "Type": 4, + "Start_Pose": [ + -2065.217, + -1580.36, + 168.15, + 0.0, + 9.18, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + 9.18, + 0.0 + ], + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -15.82, + 0.0 + ], + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -40.82, + 0.0 + ], + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -65.82, + 0.0 + ], + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -90.82, + 0.0 + ], + [ + -2067.018, + -1706.206, + 168.15, + 0.0, + -90.82, + 0.0 + ], + [ + -2084.139, + -1816.38, + 168.15, + 0.0, + -90.82, + 0.0 + ], + [ + -2085.941, + -1942.226, + 168.15, + 0.0, + -90.82, + 0.0 + ], + [ + -2087.717, + -2048.225, + 168.15, + 0.0, + -90.82, + 0.0 + ], + [ + -2087.717, + -2048.225, + 168.15, + 0.0, + -90.82, + 0.0 + ], + [ + -2087.717, + -2048.225, + 168.15, + 0.0, + -90.82, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am standing right in front of the tall built-in wardrobe with only cabinet doors, drawers, and the curtained window in view, so no bedroom door is visible from this heading. I will turn left to sweep my view off the wardrobe face and begin scanning the rest of the room for the exit.", + "The wardrobe has shifted toward the right of my view and I can now see the bed, side table, and plant along the near wall, but still no doorway. Continuing to turn left should bring more of the far wall into view where a bedroom door is likely to be.", + "The wardrobe is now at the right edge and I am looking across the bed toward the picture-hung walls, yet the exit is still outside my field of view. I will keep rotating left to expose the remaining wall on that side of the room.", + "A panelled door with a round handle is now visible on the far wall toward the left side of my view, which matches the bedroom door I need. One more left turn should center that doorway ahead of me so I can walk straight at it.", + "The bedroom door is now roughly centered ahead of me with open floor between the bed on my right and the wardrobe on my left. I will move forward along this clear lane to close the distance to the door.", + "The door has grown larger and stays near the center of my view, so my heading down this open lane is still good. I will continue forward since I am not yet close enough to work the handle.", + "The door now dominates my view with its brass knob and lock clearly visible slightly left of center, but I still have some floor to cover before it is within arm's reach. Another step forward should place me directly at the door face.", + "I am nearly at the door, with its panels, handle, and hinge side filling the frame and the wall switch beside it. One more short step forward should bring me flush enough with the door to attempt opening it.", + "The bedroom door's painted panel now fills my whole view, so I am standing right at its face and squarely aligned with it. This is close enough to reach the latch, so I will attempt to open the door now.", + "The door leaf has swung inward and the hallway wall and floor beyond are now visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002065_y-001580_z000168_t4_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002065_y-001580_z000168_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00e6eedf2192613b889b0ce63cd4a007fd7ee800 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002065_y-001580_z000168_t4_b/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Look around the bedroom until a door comes into view, then open it.", + "Type": 4, + "Start_Pose": [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -38.475, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -38.475, + 0.0 + ], + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -63.475, + 0.0 + ], + [ + -2065.217, + -1580.36, + 168.15, + 0.0, + -88.475, + 0.0 + ], + [ + -2061.868, + -1706.174, + 168.15, + 0.0, + -88.475, + 0.0 + ], + [ + -2081.648, + -1799.572, + 168.15, + 0.0, + -88.475, + 0.0 + ], + [ + -2081.804, + -1925.35, + 168.15, + 0.0, + -88.475, + 0.0 + ], + [ + -2079.355, + -2048.354, + 168.15, + 0.0, + -88.475, + 0.0 + ], + [ + -2079.355, + -2048.354, + 168.15, + 0.0, + -88.475, + 0.0 + ], + [ + -2079.355, + -2048.354, + 168.15, + 0.0, + -88.475, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From where I stand I only see the bed, the framed pictures and the tall wardrobe with drawers, and no doorway is in view. I will turn left to sweep an unseen part of the bedroom, which may reveal a door.", + "A paneled door with a brass knob has now come into view, but it sits well off to the left edge of my view near the corner. I will keep turning left so the doorway moves toward the center of my heading before I commit to walking to it.", + "The door is now roughly ahead of me, framed between two small paintings on the far wall, with clear floor between us. I will move forward along this heading to close the distance toward it.", + "The doorway is larger in view but still several steps away across the bare floor, and nothing blocks the straight path. I will continue forward to get within reach of the knob.", + "The door and its frame now fill much of my view and the knob is clearly visible at about waist height. I will step forward again to bring myself close enough for a reliable interaction.", + "I am directly in front of the door with its panels and handle centered in my view, though still slightly short of contact range. One more short step forward should place me right at the door for the opening action.", + "My view is now filled by the bare panel surface of the door, so I am standing right against it and squarely aligned. I will attempt to open the door from this position, which should swing it clear of the frame.", + "The door now stands swung open, revealing the floor and wall of the space beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002066_y-000407_z000098_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002066_y-000407_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0885d5d23a83cb4db0dac3a11448a9846af6ff27 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002066_y-000407_z000098_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Explore the road to find and go to the gray car.", + "Type": 1, + "Start_Pose": [ + -2066.222, + -407.298, + 98.15, + -0.301, + -120.316, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2066.222, + -407.298, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2066.222, + -407.298, + 98.15, + -0.301, + -95.316, + -0.0 + ], + [ + -2066.222, + -407.298, + 98.15, + -0.301, + -70.316, + 0.0 + ], + [ + -2066.222, + -407.298, + 98.15, + -0.301, + -45.316, + 0.0 + ], + [ + -2066.222, + -407.298, + 98.15, + -0.301, + -20.316, + 0.0 + ], + [ + -1948.194, + -450.995, + 98.15, + -0.301, + -20.316, + 0.0 + ], + [ + -1830.166, + -494.693, + 98.15, + -0.301, + -20.316, + 0.0 + ], + [ + -1712.138, + -538.39, + 98.15, + -0.301, + -20.316, + 0.0 + ], + [ + -1594.11, + -582.087, + 98.15, + -0.301, + -20.316, + 0.0 + ], + [ + -1476.082, + -625.785, + 98.15, + -0.301, + -20.316, + 0.0 + ], + [ + -1476.082, + -625.785, + 98.15, + -0.301, + -20.316, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a white clapboard house behind its picket fence, a driveway, and a large tree trunk blocking my left, with no car anywhere in sight. Since the paved surface seems to continue off to my right, I will turn right to begin a consistent scan for the road and any parked vehicle.", + "The new heading still shows the same fenced house front and a stretch of pavement, and no gray car has appeared yet. I will keep rotating right in the same direction to extend the scan toward where the pavement widens out.", + "A curb and open asphalt have come into view on the right, and at the far right edge I can just make out the dark body of a parked car. I will continue turning right to bring that vehicle and the road properly into my view.", + "The road is now open in front of me and a single grayish car is parked along the near curb, slightly right of my heading. I will turn right once more so I face straight down the roadway with that car ahead of me before walking toward it.", + "I am now lined up with the open road and the parked gray car sits ahead of me near the left curb, matching the target described in the task. The lane in front looks clear, so I will step forward to close the distance.", + "The parked car has grown noticeably larger and stays just left of my path, confirming my heading is good. I will keep walking forward along the open pavement to get nearer to it.", + "The gray car's rear end and wheels are clearly resolved now, still a few steps beyond me along the curb. I will advance again to bring myself right up beside it.", + "The car's license plate is legible and its body fills much of the left side of my view, so I am close but not yet directly at it. I will take another step forward to finish closing on the vehicle.", + "The gray car parked along the curb now dominates the left half of my view, with its rear bumper and plate clearly legible just a short distance ahead. There is still a small gap of open road between me and its body, so I will take one more step forward along the roadside to close that remaining distance.", + "The gray car's rear panel and plate fill my view directly ahead, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002066_y-001985_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002066_y-001985_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7081697ded5d32628d6b758d597bd60244386ee --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002066_y-001985_z000168_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the left window curtain.", + "Type": 2, + "Start_Pose": [ + -2065.926, + -1985.179, + 168.15, + -0.248, + 136.381, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2065.926, + -1985.179, + 168.15, + -0.248, + 136.381, + 0.0 + ], + [ + -2065.926, + -1985.179, + 168.15, + -0.248, + 111.381, + -0.0 + ], + [ + -2117.315, + -1874.101, + 168.15, + -0.248, + 111.381, + -0.0 + ], + [ + -2153.763, + -1770.31, + 168.15, + -0.248, + 111.381, + -0.0 + ], + [ + -2139.061, + -1691.857, + 168.15, + -0.248, + 111.381, + -0.0 + ], + [ + -2154.864, + -1580.654, + 168.15, + -0.248, + 111.381, + -0.0 + ], + [ + -2154.864, + -1580.654, + 168.15, + -0.248, + 111.381, + -0.0 + ] + ], + "Rationale": [ + "From here the room's left side holds a curtained window, its pale drapes hanging on either side of the glass near the foot of the bed, and that is the curtain I want. It sits well off to my left of my current heading, so a leftward turn should bring it toward the middle of my view before I walk.", + "The turn has opened up the window wall, and a second window now shows at the far left edge, so I hold to the curtains I picked out, the ones flanking the window beside the bed. That window sits roughly ahead of me but far across the floor. I will walk forward to close the distance.", + "The curtained window I am heading for is larger now and still slightly ahead of me, with the bed passing along my right. Nothing blocks the stretch of floor in front, so another step forward should keep shrinking the gap.", + "The window now fills much of my view with its two drawn drape panels hanging from the rod, the fuller one on the left. I am still a few paces short of standing at it, so I continue walking straight in.", + "The window frame and sill are close in front of me, with the tall left drape panel filling the left side of my view. One more step forward should put me right up against that curtain within reach.", + "The left curtain panel hangs immediately in front of me, filling my view beside the window glass. I have reached the curtain, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002067_y-001772_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002067_y-001772_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..865030d8931aa3dcb4770aa07801a54f4f31863c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002067_y-001772_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Turn through the bedroom to find a door, then open it.", + "Type": 4, + "Start_Pose": [ + -2066.833, + -1771.821, + 168.15, + 0.0, + -162.426, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2066.833, + -1771.821, + 168.15, + 0.0, + -162.426, + 0.0 + ], + [ + -2066.833, + -1771.821, + 168.15, + 0.0, + -137.426, + 0.0 + ], + [ + -2066.833, + -1771.821, + 168.15, + 0.0, + -112.426, + 0.0 + ], + [ + -2066.833, + -1771.821, + 168.15, + 0.0, + -87.426, + 0.0 + ], + [ + -2081.813, + -1878.334, + 168.15, + 0.0, + -87.426, + 0.0 + ], + [ + -2079.888, + -2004.033, + 168.15, + 0.0, + -87.426, + 0.0 + ], + [ + -2079.888, + -2004.033, + 168.15, + 0.0, + -87.426, + 0.0 + ], + [ + -2075.024, + -2048.376, + 168.15, + 0.0, + -87.426, + 0.0 + ], + [ + -2075.024, + -2048.376, + 168.15, + 0.0, + -87.426, + 0.0 + ], + [ + -2075.024, + -2048.376, + 168.15, + 0.0, + -87.426, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this starting pose I only see the bed, the small lamp table, and a tall built-in wardrobe against the wall, with no doorway anywhere in view. I will turn to my right to sweep new wall surface into view and look for a door.", + "Rotating has brought a white paneled door with a brass knob into the far right edge of my view, but it is clipped and badly off center. I will keep turning right to bring that door fully into the middle of my view.", + "The paneled door is now clearly visible ahead but still sits right of center, with the wardrobe on my left and the bed corner appearing at the right. Another right turn should place the door squarely in front of me before I close the distance.", + "The door is now centered in my view with its frame and knob plainly visible, so my heading is aimed straight at it. I will move forward to close the gap across the open floor toward the doorway.", + "The door now fills most of my view, but the knob still sits toward the left edge and I am likely a step short of contact range. I will advance once more to get close enough that the latch is within reach.", + "The bedroom door now fills my view with its panels and the brass handle just at my left, so I am squarely facing the door I was sent to find. From this position I will try the opening interaction, which should release the latch and swing the panel inward.", + "My opening attempt left the door exactly as it was, still closed with the handle and panels unchanged in front of me. I may simply be a little too far from the latch to engage it, so I will step forward to close that remaining gap before trying again.", + "I am now pressed right up against the door panel, much nearer than when my earlier attempt failed to move it. From this tighter contact distance I will attempt the opening interaction again, which should now engage the latch.", + "The door now stands swung open, showing the lit hallway and floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002082_y-001869_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002082_y-001869_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b8a172058594cd0d0ff7eb31a5298e72aaf67ca --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002082_y-001869_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Turn from the bed toward the room's door and open it.", + "Type": 4, + "Start_Pose": [ + -2081.839, + -1868.986, + 168.15, + 0.0, + 138.908, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2081.839, + -1868.986, + 168.15, + 0.0, + 138.908, + 0.0 + ], + [ + -2081.839, + -1868.986, + 168.15, + 0.0, + 163.908, + -0.0 + ], + [ + -2081.839, + -1868.986, + 168.15, + 0.0, + -171.092, + 0.0 + ], + [ + -2081.839, + -1868.986, + 168.15, + 0.0, + -146.092, + 0.0 + ], + [ + -2081.839, + -1868.986, + 168.15, + 0.0, + -121.092, + 0.0 + ], + [ + -2081.839, + -1868.986, + 168.15, + 0.0, + -96.092, + 0.0 + ], + [ + -2095.196, + -1994.134, + 168.15, + 0.0, + -96.092, + 0.0 + ], + [ + -2095.196, + -1994.134, + 168.15, + 0.0, + -96.092, + 0.0 + ], + [ + -2106.776, + -2048.378, + 168.15, + 0.0, + -96.092, + 0.0 + ], + [ + -2106.776, + -2048.378, + 168.15, + 0.0, + -96.092, + 0.0 + ], + [ + -2106.776, + -2048.378, + 168.15, + 0.0, + -96.092, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From beside the bed I only see the window, nightstand lamp and the edge of a tall cabinet at the right, with no room door anywhere in front of me. Since the task asks me to face the door, I will turn right to sweep this unseen side of the room for the exit.", + "The bed is now behind my left shoulder and a built-in wardrobe with drawers fills the view ahead, which is storage rather than the room's door. I will keep turning right to continue past this cabinet wall and look for the actual doorway.", + "In front of me are the wardrobe cabinet and a pair of narrow closet panels set flush into the wall, not a passage out of the room. Another right turn should carry my view onto the next wall where an exit door is more likely.", + "The closet run ends at the corner to my left and the wall ahead holds only a framed picture and a light switch, with what looks like a vertical door edge just at the right margin. I will turn right again to bring that promising edge into the middle of my view.", + "A paneled door with a brass handle is now clearly in view, but it sits off to the right side of my heading while the closet panels still occupy the left. One more right turn should center that door so I can approach it straight on.", + "The room's door is now centered in front of me with its frame fully visible, but I am still several steps back across the floor. I will move forward to close that gap so the handle comes within reach for an opening attempt.", + "The door panel now fills my view and the lever handle sits just left of center at about waist height, so I appear close enough to operate it. I will try to open the door from this position.", + "My attempt to open the door left it shut, with the panel and handle unchanged in front of me, so I was likely still slightly too far from the handle for the interaction to register. I will step forward a little to tighten my distance to the panel before trying again.", + "I am now pressed close to the door panel, with the handle hardware just at the bottom edge of my view, which is tighter than the distance where my earlier attempt failed to move the door. I will try opening the door again from this closer stance.", + "The door now stands open with the hallway wall, sconce, and floor visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002090_y-000039_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002090_y-000039_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af05757bbcc4938d0901bd8adc0dd955e80abab4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002090_y-000039_z000098_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the mailbox.", + "Type": 0, + "Start_Pose": [ + -2089.541, + -39.456, + 98.15, + -0.051, + 85.457, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2089.541, + -39.456, + 98.15, + -0.051, + 85.457, + 0.0 + ], + [ + -2089.541, + -39.456, + 98.15, + -0.051, + 60.457, + 0.0 + ], + [ + -2027.483, + 70.04, + 98.15, + -0.051, + 60.457, + 0.0 + ], + [ + -1965.425, + 179.535, + 98.15, + -0.051, + 60.457, + 0.0 + ], + [ + -1965.425, + 179.535, + 98.15, + -0.051, + 35.457, + 0.0 + ], + [ + -1862.906, + 252.545, + 98.15, + -0.051, + 35.457, + 0.0 + ], + [ + -1760.388, + 325.555, + 98.15, + -0.051, + 35.457, + 0.0 + ], + [ + -1657.869, + 398.564, + 108.626, + -0.051, + 35.457, + 0.0 + ], + [ + -1611.229, + 462.747, + 116.758, + -0.051, + 35.457, + 0.0 + ], + [ + -1611.229, + 462.747, + 116.758, + -0.051, + 35.457, + 0.0 + ] + ], + "Rationale": [ + "From the curb I can see the house straight ahead, but the mailbox I need is barely at the far left edge of my view, close to the picket fence. I will turn left so that the mailbox and the sidewalk leading to it come into the front of my view before I commit to moving.", + "After turning, the street runs off to my left and a white mailbox on a post now sits ahead beyond the fence line, past the trash bin at my right. I will move forward along the roadway to close the gap toward it.", + "The mailbox post is noticeably larger now and still lies ahead and slightly left of my heading, so I have not yet reached it. I will continue straight along the clear street to keep reducing the distance.", + "The mailbox has drifted toward the left side of my view as I advanced, meaning my heading is angled off to its right. I will turn left to bring it back near the center of my view before closing the remaining distance.", + "The turn has placed the mailbox roughly ahead of me, standing on its post between the sidewalk and the fenced lawn. With the street ahead clear, I will move forward to close in on it.", + "The mailbox is clearly centered ahead, its red flag and white body now easy to make out. I am still several steps short of it, so I will keep moving forward on this heading.", + "The mailbox now fills much of the center of my view at close range beside the sidewalk. Another step forward should bring me right up against it.", + "The mailbox and its post dominate my view, so only a short final advance is needed to stand directly at it. I will edge forward to settle into position beside the mailbox.", + "The mailbox and its post fill the near left of my view, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002119_y002338_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002119_y002338_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3bd332414b86d3335208a798ab6c8a6d330aa002 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002119_y002338_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white paneled door to the left of the short dresser.", + "Type": 4, + "Start_Pose": [ + -2118.593, + 2337.803, + 168.15, + 0.0, + -78.705, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2118.593, + 2337.803, + 168.15, + 0.0, + -78.705, + 0.0 + ], + [ + -2093.942, + 2214.382, + 168.867, + 0.0, + -78.705, + 0.0 + ], + [ + -2069.291, + 2090.96, + 168.294, + 0.0, + -78.705, + 0.0 + ], + [ + -2044.641, + 1967.539, + 168.294, + 0.0, + -78.705, + 0.0 + ], + [ + -2044.641, + 1967.539, + 168.294, + 0.0, + -78.705, + 0.0 + ], + [ + -2024.316, + 1951.618, + 168.15, + 0.0, + -78.705, + 0.0 + ], + [ + -2024.316, + 1951.618, + 168.15, + 0.0, + -78.705, + 0.0 + ], + [ + -2024.316, + 1951.618, + 168.15, + 0.0, + -78.705, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits straight ahead at the end of this small hallway, with the short dresser standing to its right, matching the target described in the task. It is still several steps away, so I will move forward along the floorboards to close that distance.", + "The door is now larger in view and centered ahead of me, and the dresser has slid to the right edge as I close in. My heading is already good, so another forward step should bring me near enough to reach the handle.", + "I am close to the door and can now see its brass lever and deadbolt on the left side of the panel, confirming this is the paneled door beside the dresser. I am still a step short of arm's reach, so I will advance once more to stand directly at the door.", + "The door panels now fill my entire view with the frame edge at the right, so I am standing right against the target door. From this position I will try to operate the latch and push it open.", + "My attempt to open this door left it shut, since the panels in front of me are unchanged and no opening appeared. I may still be slightly out of interaction range or offset from the latch, so I will step forward a little to press closer before trying again.", + "My previous attempt at this white paneled door left it shut, so I closed the small remaining gap and the panel and its frame edge now fill my view at contact range. From this tighter position the latch should be within reach, so I will try opening the door again.", + "The white paneled door now stands swung inward, revealing the garage with its shelving beyond. The task goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002130_y-001050_z000132_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002130_y-001050_z000132_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c91e16dca6930f60c9f7bfbc88f2140ea0fe8a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002130_y-001050_z000132_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the lamp post.", + "Type": 0, + "Start_Pose": [ + -2129.582, + -1050.411, + 131.738, + -0.051, + -139.577, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2129.582, + -1050.411, + 131.738, + -0.051, + -139.577, + -0.0 + ], + [ + -2129.582, + -1050.411, + 131.738, + -0.051, + -164.577, + 0.0 + ], + [ + -2250.909, + -1083.882, + 133.707, + -0.051, + -164.577, + 0.0 + ], + [ + -2372.235, + -1117.354, + 135.675, + -0.051, + -164.577, + 0.0 + ], + [ + -2493.562, + -1150.825, + 140.228, + -0.051, + -164.577, + 0.0 + ], + [ + -2614.888, + -1184.296, + 142.439, + -0.051, + -164.577, + 0.0 + ], + [ + -2614.888, + -1184.296, + 142.439, + -0.051, + 170.423, + 0.0 + ], + [ + -2738.993, + -1163.357, + 141.056, + -0.051, + 170.423, + 0.0 + ], + [ + -2738.993, + -1163.357, + 141.056, + -0.051, + 170.423, + 0.0 + ] + ], + "Rationale": [ + "I can see the black lamp post standing in the yard well off to my left, while most of my view is filled by the porch and the house on the right. I will turn left to bring the lamp post closer to the center of my heading before advancing.", + "The lamp post now sits in the left-central part of my view with open lawn and paved walkway between us. I will move forward along this clear ground to start closing the distance to it.", + "The lamp post has grown noticeably larger and its lantern is now clearly in the upper left of my view, so my heading is still carrying me toward it. I will continue forward since the lawn and walkway ahead remain passable.", + "The lamp post's pole and lit lantern now dominate the left side of my view, meaning I am much nearer than before but not yet beside it. I will keep moving forward across the grass to reduce the remaining gap.", + "The lamp post has drifted to my left edge as I advance, with its pole cut off at the top of my view, so I am nearly level with it. I will take one more step forward to bring myself alongside the post before correcting my heading.", + "The lamp post is now hugging the far left border of my view while my heading points at the garage and porch railing on the right. I will turn left to swing the post back into the controllable center of my view for a final short approach.", + "The lamp post is now centered directly ahead of me with its base planted in the grass just a short step away. I will move forward to close that last bit of distance and stand at the post.", + "The lamp post pole rises immediately beside me, filling the near foreground at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002134_y000056_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002134_y000056_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..359fb1982b0d486b6dcc7ea625f255599b8fcc10 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002134_y000056_z000098_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the gray car on the road.", + "Type": 0, + "Start_Pose": [ + -2133.546, + 55.843, + 98.15, + -0.051, + -27.206, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2133.546, + 55.843, + 98.15, + -0.051, + -27.206, + 0.0 + ], + [ + -2021.611, + -1.699, + 98.15, + -0.051, + -27.206, + -0.0 + ], + [ + -1909.676, + -59.24, + 98.15, + -0.051, + -27.206, + -0.0 + ], + [ + -1797.741, + -116.782, + 98.15, + -0.051, + -27.206, + -0.0 + ], + [ + -1685.806, + -174.323, + 98.15, + -0.051, + -27.206, + -0.0 + ], + [ + -1573.871, + -231.865, + 98.15, + -0.051, + -27.206, + -0.0 + ], + [ + -1461.936, + -289.407, + 98.15, + -0.051, + -27.206, + -0.0 + ], + [ + -1461.936, + -289.407, + 98.15, + -0.051, + -52.206, + -0.0 + ], + [ + -1384.807, + -388.863, + 98.15, + -0.051, + -52.206, + -0.0 + ], + [ + -1307.677, + -488.319, + 98.15, + -0.051, + -52.206, + -0.0 + ], + [ + -1232.927, + -568.284, + 98.15, + -0.051, + -52.206, + -0.0 + ], + [ + -1232.927, + -568.284, + 98.15, + -0.051, + -52.206, + -0.0 + ] + ], + "Rationale": [ + "I can see a gray car parked along the left side of the road well ahead of me, which matches the target described in my task. My heading down the road already points generally toward it, so I will step forward to begin closing the gap.", + "The gray car sits slightly larger in my view now, confirming that advancing along this road brings me nearer to it. The pavement ahead is clear, so I will keep walking forward.", + "The car's rear and side panels are becoming more distinct, so distance is steadily dropping. It remains slightly to the left of straight ahead, but not enough to justify turning yet, so I will continue forward.", + "The gray car now occupies a noticeably wider portion of the left part of my view, so my straight approach is working. I will take another step forward to keep shrinking the remaining distance before adjusting my heading.", + "I am close enough that I can make out the car's door lines and wheel rims along the left edge of my view. Advancing once more should bring me alongside it rather than leaving it distant.", + "The parked gray car is now large and pushed toward the left edge of my view, meaning I am nearly abreast of it. One more forward step should place me close beside its body before I turn to face it.", + "The gray car has slid so far to my left that only its front half stays inside my view while my heading points down the empty road past it. I will turn left to bring the car back into the center of my view and aim my body directly at it.", + "After turning, the whole gray car sits centered in front of me with its side facing me, so my heading is now aligned with the target. I will step forward to close the last short gap and stand beside it.", + "The gray car parked along the road now fills the left and center of my view, its side panels and wheels clearly close ahead of me. There is still open pavement between me and its body, so I will step forward again to keep closing that gap along my current heading.", + "The car's rear door, window pillar and side mirror now dominate my view, so I am nearly beside it with only a short stretch of ground left. I will advance one more short step to bring myself right up against the gray car before stopping.", + "The gray car's window and body panel fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002146_y002228_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002146_y002228_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0190d5db4986bba5e192117342201754f71f0e5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002146_y002228_z000169_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white door on the left side of the small dresser.", + "Type": 4, + "Start_Pose": [ + -2146.176, + 2228.105, + 168.902, + 0.0, + -42.592, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2146.176, + 2228.105, + 168.902, + 0.0, + -42.592, + 0.0 + ], + [ + -2146.176, + 2228.105, + 168.902, + 0.0, + -67.592, + 0.0 + ], + [ + -2098.199, + 2111.749, + 168.15, + 0.0, + -67.592, + 0.0 + ], + [ + -2050.221, + 1995.393, + 168.15, + 0.0, + -67.592, + 0.0 + ], + [ + -2050.221, + 1995.393, + 168.15, + 0.0, + -67.592, + 0.0 + ], + [ + -2010.28, + 1952.712, + 168.15, + 0.0, + -67.592, + 0.0 + ], + [ + -2010.28, + 1952.712, + 168.15, + 0.0, + -92.592, + 0.0 + ], + [ + -2010.28, + 1952.712, + 168.15, + 0.0, + -92.592, + 0.0 + ], + [ + -2010.28, + 1952.712, + 168.15, + 0.0, + -92.592, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the small dresser sits ahead of me and the white panelled door stands on the wall to its left, currently off to the side of my heading. I will turn left so that door comes to the center of my view before I approach it.", + "The white door is now centered in front of me with the dresser off to my right, so my heading is good. I will move forward to close the distance toward its handle.", + "The door and its brass handle are clearly ahead and slightly left, but I am still a step or two away from being able to reach it. I will advance again to bring the handle within interaction range.", + "The white door panel now fills most of my view, so I should be standing right at it. I will try to open it from this position.", + "My attempt to open it left the door still shut, and I am facing the panel with the handle side out of view, so I may be slightly off the reachable spot. I will edge forward to tighten my position against the door before trying again.", + "My view is now filled almost entirely by the door frame and the wallpapered wall beside it, so I am skewed toward the edge rather than facing the white door panel. An earlier open attempt at this door left it unchanged, which suggests my heading was not properly on the panel. I will turn left to bring the door surface back into the center of my view for a cleaner interaction angle.", + "After reorienting, the white paneled door now fills the center of my view at close range, with its frame edge visible to the right. My previous attempt from a skewed angle did not move the door, so this squarer alignment should give the interaction a proper target. I will try to open the door from here.", + "I can see the door swung open with the garage interior and its shelving now exposed ahead of me. I consider the task complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002218_y000280_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002218_y000280_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6e8202fa225aa67d41256851796d02114676410 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002218_y000280_z000098_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the end of the white picket fence beside the concrete driveway.", + "Type": 0, + "Start_Pose": [ + -2218.108, + 279.806, + 98.15, + -0.051, + 146.032, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2218.108, + 279.806, + 98.15, + -0.051, + 146.032, + -0.0 + ], + [ + -2322.489, + 350.127, + 98.15, + -0.051, + 146.032, + -0.0 + ], + [ + -2322.489, + 350.127, + 98.15, + -0.051, + 121.032, + -0.0 + ], + [ + -2387.371, + 457.973, + 103.68, + -0.051, + 121.032, + -0.0 + ], + [ + -2452.254, + 565.819, + 112.724, + -0.051, + 121.032, + -0.0 + ], + [ + -2517.136, + 673.665, + 113.949, + -0.051, + 121.032, + -0.0 + ], + [ + -2517.136, + 673.665, + 113.949, + -0.051, + 146.032, + -0.0 + ], + [ + -2621.517, + 743.986, + 113.949, + -0.051, + 146.032, + -0.0 + ], + [ + -2621.517, + 743.986, + 113.949, + -0.051, + 146.032, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the white picket fence running along the grass strip ahead on the left, with the wide concrete driveway meeting it. I will move forward along the walkway to close the gap before committing to a heading toward the fence line.", + "The picket fence and the concrete driveway that borders it now sit to my left while my heading still points down the street. I will turn left so the driveway and the fence line fall in front of me for a straight approach.", + "With the garage, driveway, and the neighboring white picket fence now centered ahead, my heading is good for a direct approach. I will move forward along the driveway to shorten the distance to the fence.", + "The picket fence sections are noticeably larger and the flowering shrub at their near end is closer, so I am still gaining on the target. Another forward step should bring me alongside the fence run beside the driveway.", + "I am nearly level with the near end of the fence, with the driveway edge and grass strip just to my right. I will step forward once more to reach the stretch of fence I need to follow.", + "The fence now runs off to my right with a tall corner post at the edge of my view, while the garage wall fills the left. I will turn right to put the fence line and the walkway beside it in front of me so I can follow it to its end.", + "Facing along the fence, I can see the pickets terminate at a thick corner post just ahead beside the concrete walkway. I will move forward to bring myself right up to that terminal post.", + "The thick terminal post of the white picket fence stands immediately beside me at the edge of the concrete. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002231_y-002027_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002231_y-002027_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e49295935d179fc2a8dbc9ccabc0284ef191aba --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002231_y-002027_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the plant.", + "Type": 0, + "Start_Pose": [ + -2231.317, + -2027.215, + 168.15, + -0.051, + 56.533, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2231.317, + -2027.215, + 168.15, + -0.051, + 56.533, + 0.0 + ], + [ + -2161.911, + -1922.223, + 168.15, + -0.051, + 56.533, + -0.0 + ], + [ + -2092.505, + -1817.231, + 168.15, + -0.051, + 56.533, + -0.0 + ], + [ + -2092.505, + -1817.231, + 168.15, + -0.051, + 31.533, + 0.0 + ], + [ + -2028.757, + -1746.594, + 168.15, + -0.051, + 31.533, + 0.0 + ], + [ + -2028.757, + -1746.594, + 168.15, + -0.051, + 6.533, + 0.0 + ], + [ + -1914.266, + -1730.963, + 168.15, + -0.051, + 6.533, + 0.0 + ], + [ + -1914.266, + -1730.963, + 168.15, + -0.051, + 6.533, + 0.0 + ] + ], + "Rationale": [ + "From the doorway side of this bedroom I can see a tall potted plant standing beside the white wardrobe on the far wall, so the target is already localized. It is still several meters away, so I will move forward along the open floor to close that distance.", + "The leafy plant beside the wardrobe now reads larger and its pot is clearly visible, confirming I am heading the right way. The floor between us is still clear, so another forward step should keep shrinking the gap.", + "At this closer range the plant has drifted to the left portion of my view while the wardrobe and window fill the center. I will turn left to bring the plant back toward the middle of my heading before continuing forward.", + "The plant is now within the central part of my view, standing beside the small round table and next to the wardrobe. With my heading pointed that way, moving forward should bring me noticeably closer to it.", + "I am close now, but the bulky wardrobe dominates the center of my view and the plant has shifted to the left side. Turning left should re-center the plant so I can finish the approach straight at it.", + "The potted plant is now framed just ahead of me between the corner wall and the wardrobe, with its pot resting on the floor in clear view. A short forward step should place me directly beside it.", + "The plant's leaves now fill my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002260_y-000795_z000113_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002260_y-000795_z000113_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c0ce6f2165faceac76210d19ab4c75cc554690bf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002260_y-000795_z000113_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the surroundings to find and go to the gray car on the road.", + "Type": 1, + "Start_Pose": [ + -2259.986, + -795.03, + 113.214, + -0.301, + -131.819, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2259.986, + -795.03, + 113.214, + -0.301, + -131.819, + 0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + -156.819, + 0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 178.181, + 0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 153.181, + 0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 128.181, + 0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 103.181, + -0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 78.181, + -0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 53.181, + -0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 28.181, + 0.0 + ], + [ + -2259.986, + -795.03, + 113.214, + -0.301, + 3.181, + 0.0 + ], + [ + -2134.271, + -787.931, + 113.214, + -0.301, + 3.181, + 0.0 + ], + [ + -2008.608, + -780.947, + 113.214, + -0.301, + 3.181, + 0.0 + ], + [ + -1882.945, + -773.963, + 121.194, + -0.301, + 3.181, + 0.0 + ], + [ + -1757.281, + -766.979, + 115.149, + -0.301, + 3.181, + 0.0 + ], + [ + -1631.618, + -759.995, + 98.15, + -0.301, + 3.181, + 0.0 + ], + [ + -1505.955, + -753.011, + 98.15, + -0.301, + 3.181, + 0.0 + ], + [ + -1505.955, + -753.011, + 98.15, + -0.301, + 3.181, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see the front of a house with a red door, its porch, shrubs and lawn, and no road or parked car anywhere in view. I will turn left to begin a consistent scan of the surroundings toward the open space and paving on that side, which is more likely to lead to a street.", + "Turning has brought a white picket fence, a sidewalk and neighboring houses into view, so I am clearly rotating toward the front of the property rather than deeper into the yard. No gray car on a road is visible yet, so I will keep turning left in the same direction to widen the scan.", + "A sidewalk runs off to the left and I can just make out pavement and a mailbox beyond the trees, which suggests the street lies further in that direction. Since no car is yet distinguishable there, I will continue the leftward scan toward that likely roadway.", + "The road surface is now clearly visible on the left, edged by a sidewalk and shaded by large trees, confirming I am facing the right kind of area for the task. Nothing resembling a gray car stands on it in this part of the view, so I will keep turning left to sweep further along the street.", + "I now look across the road at a house with a brown garage door and a long empty stretch of pavement in front of it. No vehicle sits on that stretch, so I will continue the same leftward rotation to inspect the road as it runs on.", + "The open road remains in front of me and the only vehicle I can pick out is a dark red one sitting well back near a driveway, not a gray car on the road. I will keep turning left to follow the street further down its length.", + "Sweeping along the street, I can now see a dark vehicle shape at the very left margin of my view, low and sitting on the roadway rather than in a driveway. I will turn left again to bring that candidate properly into view and judge whether it is the gray car I need.", + "A dark gray sedan is now clearly standing on the near lane of the road, though it is still cut off at the left side of my view. I will turn left once more to center it in front of me so I can head straight down the roadway toward it.", + "My scan along the street has brought a gray sedan parked on the road into view, sitting left of my heading behind the roadside trees. I will turn left once more to bring it closer to the center of my view so I can walk straight at it.", + "The gray sedan on the road is now roughly centered ahead of me, so no further turning is needed. I will step forward along the roadside to begin closing the distance toward it.", + "The sedan still sits straight ahead and has grown slightly larger, confirming my heading is good. I will keep walking forward to shorten the remaining gap.", + "The gray car's rear end and license plate area are becoming clearer directly in front of me, so my line of travel is still correct. I will continue forward rather than adjust my heading.", + "The sedan now fills a good part of the lower center of my view and its plate is readable, so I am well aligned but not yet beside it. Another step forward should bring me closer to the car on the road.", + "The gray car is close ahead with its taillights and plate clearly visible, and nothing blocks the strip between me and it. I will advance again to reach it.", + "The rear of the gray sedan now dominates my view, so only a small gap remains. I will take one more step forward to stand right at the car.", + "The gray car on the road fills my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002277_y-000264_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002277_y-000264_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d1bb0e5804178ea85b3c2f8144398368967aa5c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002277_y-000264_z000098_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the trash bag beside the trash bin.", + "Type": 0, + "Start_Pose": [ + -2276.7, + -263.51, + 98.15, + -0.051, + 56.88, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2276.7, + -263.51, + 98.15, + -0.051, + 56.88, + 0.0 + ], + [ + -2276.7, + -263.51, + 98.15, + -0.051, + 81.88, + -0.0 + ], + [ + -2258.923, + -138.913, + 98.15, + -0.051, + 81.88, + -0.0 + ], + [ + -2241.146, + -14.316, + 98.15, + -0.051, + 81.88, + -0.0 + ], + [ + -2223.368, + 110.281, + 98.15, + -0.051, + 81.88, + -0.0 + ], + [ + -2205.591, + 234.879, + 98.15, + -0.051, + 81.88, + -0.0 + ], + [ + -2205.591, + 234.879, + 98.15, + -0.051, + 56.88, + -0.0 + ], + [ + -2205.591, + 234.879, + 98.15, + -0.051, + 56.88, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the grey wheeled bin at the far curb with a dark bag slumped against its side, but my heading runs along the street rather than toward it. I will turn right so my facing crosses the road toward that curb strip, which should let straight forward motion close the gap.", + "The bin and the bag beside it now sit ahead of me across the open asphalt, with the driveway and garage framed behind them. Nothing blocks the lane between us, so I will move forward to begin closing that distance.", + "The bin has grown noticeably larger and the bag at its base is clearer, confirming my heading is carrying me toward the target. I will keep moving forward since I am still out in the road, well short of the curb.", + "The curb line and the grass strip are now visible below the bin, and the bag beside it reads clearly as a separate dark sack. There is still a stretch of pavement between me and that curb, so I will advance again.", + "The bin and its bag now fill the lower left of my view at close range, drifting to that side as I press toward the curb. One more forward step should bring me level with the curb strip where the bag rests.", + "I have reached the curb beside the driveway, but the bin and bag have slipped past the left edge of my view and I am now staring at the garage and lawn. I will turn left to bring that curbside bin and the bag back into the center of my view.", + "The dark trash bag rests directly beside the grey bin at arm's reach in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002279_y-001069_z000133_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002279_y-001069_z000133_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7f8f4b5e0123001e560b7df4fd1ccb681dc55c2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002279_y-001069_z000133_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search your surroundings and navigate to the front door of this house.", + "Type": 1, + "Start_Pose": [ + -2279.374, + -1068.516, + 132.803, + -0.15, + -45.507, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2279.374, + -1068.516, + 132.803, + -0.15, + -45.507, + 0.0 + ], + [ + -2279.374, + -1068.516, + 132.803, + -0.15, + -70.507, + 0.0 + ], + [ + -2279.374, + -1068.516, + 132.803, + -0.15, + -95.507, + 0.0 + ], + [ + -2279.374, + -1068.516, + 132.803, + -0.15, + -120.507, + 0.0 + ], + [ + -2343.265, + -1176.952, + 139.18, + -0.15, + -120.507, + 0.0 + ], + [ + -2402.4, + -1238.246, + 145.817, + -0.15, + -120.507, + 0.0 + ], + [ + -2468.996, + -1303.167, + 148.141, + -0.15, + -120.507, + 0.0 + ], + [ + -2468.996, + -1303.167, + 148.141, + -0.15, + -95.507, + 0.0 + ], + [ + -2505.221, + -1377.235, + 164.994, + -0.15, + -95.507, + 0.0 + ], + [ + -2516.425, + -1451.969, + 165.15, + -0.15, + -95.507, + 0.0 + ], + [ + -2516.425, + -1451.969, + 165.15, + -0.15, + -95.507, + 0.0 + ] + ], + "Rationale": [ + "I am standing on the lawn beside a long clapboard wall with only windows and shutters in front of me, so no entry door is visible from this heading. The covered porch structure at the left edge is the strongest cue for where a front door would be, so I will turn left to scan that way.", + "The porch columns, railing, and planter box now fill the left half of my view, confirming I am rotating toward the sheltered entry area, but no door is in sight yet. I will continue turning left in the same direction to bring the deeper part of the porch into view.", + "A red door with a glass pane and a wall lamp beside it is now visible under the porch roof on the left side of my view, which matches the front door I am looking for. I will turn left once more to bring that door closer to the center of my heading before advancing.", + "The red front door is now roughly ahead of me under the porch roof, with the walkway and porch steps leading toward it past the shrubs. Since the target is committed and the path looks open, I will walk forward to close the distance.", + "I am now up at the porch with the wooden deck and the red door clearly ahead between the columns. The door is still several steps away, so I will keep walking forward along the deck toward it.", + "The red door with its nine-pane window is larger and closer on the porch wall ahead of me, and the deck in front of it is clear. I will advance again to get within standing distance of the door.", + "I am close to the red door now, but it sits slightly right of my heading with the doorknob and frame off center. I will turn right to square my facing onto the door before stepping the last distance.", + "The red front door is now squarely in front of me with its glazed panes and brass knob plainly visible. A short step forward should place me directly at the door, so I will move forward.", + "The red front door now fills most of my view with its brass knob and glass panes clearly centered ahead of me, so it is unmistakably the target. A small gap of porch decking still separates me from the threshold, so I will step forward once more to close that remaining distance and stand directly at the door.", + "The red front door's glass pane and brass knob fill my view at arm's length. The task is complete, so I stop here rather than move further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002281_y-000942_z000125_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002281_y-000942_z000125_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da54e85f5a6beec84cf926b8a1c991a187443b3d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002281_y-000942_z000125_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First, go to the yard lamp, then head to the red front door.", + "Type": 3, + "Start_Pose": [ + -2281.134, + -941.894, + 125.356, + -0.051, + -139.577, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2281.134, + -941.894, + 125.356, + -0.051, + -139.577, + -0.0 + ], + [ + -2281.134, + -941.894, + 125.356, + -0.051, + -164.577, + 0.0 + ], + [ + -2402.461, + -975.365, + 128.433, + -0.051, + -164.577, + 0.0 + ], + [ + -2523.787, + -1008.837, + 130.644, + -0.051, + -164.577, + 0.0 + ], + [ + -2645.114, + -1042.308, + 132.855, + -0.051, + -164.577, + 0.0 + ], + [ + -2766.44, + -1075.779, + 135.067, + -0.051, + -164.577, + 0.0 + ], + [ + -2766.44, + -1075.779, + 135.067, + -0.051, + -164.577, + 0.0 + ], + [ + -2766.44, + -1075.779, + 135.067, + -0.051, + -139.577, + -0.0 + ], + [ + -2766.44, + -1075.779, + 135.067, + -0.051, + -114.577, + -0.0 + ], + [ + -2766.44, + -1075.779, + 135.067, + -0.051, + -89.577, + 0.0 + ], + [ + -2766.44, + -1075.779, + 135.067, + -0.051, + -64.577, + 0.0 + ], + [ + -2712.41, + -1189.45, + 142.576, + -0.051, + -64.577, + 0.0 + ], + [ + -2712.41, + -1189.45, + 142.576, + -0.051, + -39.577, + 0.0 + ], + [ + -2615.401, + -1269.637, + 148.265, + -0.051, + -39.577, + 0.0 + ], + [ + -2615.401, + -1269.637, + 148.265, + -0.051, + -64.577, + 0.0 + ], + [ + -2561.37, + -1383.308, + 165.101, + -0.051, + -64.577, + 0.0 + ], + [ + -2561.37, + -1383.308, + 165.101, + -0.051, + -64.577, + 0.0 + ] + ], + "Rationale": [ + "The tall yard lamp with its dark hood stands off to my left across the lawn, while the red door sits on the porch to my right. Since the lamp is where I must go first, I will turn left so my heading lines up with the post and the walkway leading toward it.", + "The lamp post now rises near the middle of my view, with open grass and paving stones between me and its base. Nothing blocks that lane, so I will walk forward to close the gap toward the lamp.", + "The lamp's glowing head is larger and higher in my view, meaning I am noticeably nearer than before. The grass ahead of the post is still clear of shrubs, so I will keep walking straight toward it.", + "The lamp's pole now cuts through my view from top to bottom and its lamp head has passed above my line of sight, so I am close but not yet beside it. I will step forward again to bring myself right up to the post.", + "The bare pole stands just ahead of me on the grass strip, thick in my view with the driveway and hedge beyond it. One more step should put me right at its base.", + "The lamp post fills the center of my view at arm's reach, its shaft wide and close against the driveway behind it. I have reached the yard lamp. I mark arriving here before turning back toward the red front door on the porch.", + "Standing at the lamp, my view faces the driveway and neighboring houses, with the porch of the pale sided house off to my right. The red door lies that way, so I will turn right to swing my heading back toward the house front.", + "The turn has brought the garage doors and the porch railing into view, but the red door is still further around to my right along the facade. I will turn right again to keep sweeping toward the porch entrance.", + "The lamp behind me is done, and my view still holds the garage bay and the near end of the covered porch rather than any doorway. I will keep pivoting right so the porch face swings into view and the red door can appear.", + "The red door has now come into view at the right edge of the porch, past the planter box. One more turn to the right should bring it nearer the center of my heading before I walk in.", + "The red door now sits ahead of me along the porch, with the walkway and lawn open between us. I will walk forward to close the distance to the porch.", + "I am at the porch now, but the railing and planter sit between me and the door if I keep pushing straight at it. Turning right aims me along the open deck, which should give me a clear line onto the porch floor.", + "The porch decking now runs clear ahead of me with the red door close on my left. I will step forward along the boards to draw level with the doorway.", + "I am standing on the porch boards and the red door is now off to my left rather than in front of me. Turning left should square my heading onto the door itself.", + "The red door is squarely in front of me with its brass knob visible and a short stretch of decking still between us. I will walk forward to finish closing on it.", + "The red front door fills my view with its knob right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002288_y-001789_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002288_y-001789_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28bebdd8499e756d75ba3bebe2da4105eda3d6b7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002288_y-001789_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door to the right of the framed palm-tree picture.", + "Type": 4, + "Start_Pose": [ + -2288.496, + -1789.367, + 168.15, + 0.0, + -92.38, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2288.496, + -1789.367, + 168.15, + 0.0, + -92.38, + 0.0 + ], + [ + -2288.496, + -1789.367, + 168.15, + 0.0, + -67.38, + 0.0 + ], + [ + -2236.638, + -1902.847, + 168.15, + 0.0, + -67.38, + 0.0 + ], + [ + -2188.231, + -2019.024, + 168.15, + 0.0, + -67.38, + 0.0 + ], + [ + -2147.646, + -2045.649, + 168.15, + 0.0, + -67.38, + 0.0 + ], + [ + -2147.646, + -2045.649, + 168.15, + 0.0, + -67.38, + 0.0 + ], + [ + -2147.646, + -2045.649, + 168.15, + 0.0, + -67.38, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The framed palm-tree picture hangs on the wall ahead of me, and the white paneled door I need sits to its right at the very edge of my view, partly cut off. I will turn right so that door comes fully into the center of my view and gives me a clean line of approach.", + "The white paneled door is now centered in front of me, with the palm-tree picture on the wall to its left, confirming this is the target door. It is still several steps away across the room, so I will move forward to close that distance.", + "The door now fills much of my view and its brass handle is clearly visible, but I am still short of arm's reach with the light switch and frame edge well to the side. I will continue forward to bring the handle within reach.", + "I am close enough that the door panels and the lever handle dominate my view, though the handle still sits toward the left edge and slightly far off. One short step forward should place me squarely in front of the latch for a reliable interaction.", + "The brass lever handle and keyhole of the white paneled door are directly in front of me at contact range, with the door still shut. I will operate the handle now, which should release the latch and swing the door open.", + "The white paneled door now stands swung open, revealing the space and wall beyond it. The task is complete, so there is nothing further to do and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002293_y-002170_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002293_y-002170_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f35a02a827be8a61e22a7ebc54a52d3683e9365f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002293_y-002170_z000169_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Follow the striped runner past the desk to the white door at the far end and open it.", + "Type": 4, + "Start_Pose": [ + -2292.593, + -2169.781, + 168.609, + 0.0, + 163.569, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2292.593, + -2169.781, + 168.609, + 0.0, + 163.569, + 0.0 + ], + [ + -2412.698, + -2153.073, + 168.793, + 0.0, + 163.569, + -0.0 + ], + [ + -2412.698, + -2153.073, + 168.793, + 0.0, + 138.569, + -0.0 + ], + [ + -2508.631, + -2082.59, + 168.15, + 0.0, + 138.569, + -0.0 + ], + [ + -2508.631, + -2082.59, + 168.15, + 0.0, + 163.569, + -0.0 + ], + [ + -2629.35, + -2046.99, + 168.203, + 0.0, + 163.569, + -0.0 + ], + [ + -2750.069, + -2011.389, + 168.203, + 0.0, + 163.569, + -0.0 + ], + [ + -2870.788, + -1975.789, + 168.203, + 0.0, + 163.569, + -0.0 + ], + [ + -2870.788, + -1975.789, + 168.203, + 0.0, + 163.569, + -0.0 + ], + [ + -2903.007, + -1944.24, + 168.15, + 0.0, + 163.569, + -0.0 + ], + [ + -2903.007, + -1944.24, + 168.15, + 0.0, + 163.569, + -0.0 + ], + [ + -2903.007, + -1944.24, + 168.15, + 0.0, + 163.569, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this doorway my view is pinched between the wall edge on the left and the tall cabinet on the right, with the striped runner leading past the desk into the lighter room ahead. A plain white door is visible at the far end of that room, so I will move forward along the runner to clear the narrow opening and see the room properly. This should put the desk area and the far door fully in front of me.", + "I am now inside the room, and the desk counter with its plant and the shelving crowd the whole right side of my path, while the open wood floor lies to the left. Turning slightly left points me across that clear floor toward the wall holding the white doors instead of into the furniture. This should give me a passable line to continue toward the far door.", + "With the furniture now off to my right and clear floor ahead, the white doors on the far wall are unobstructed in front of me. I will move forward across this open stretch to close the distance to that wall. Getting nearer should also let me tell the two doors apart before I commit to one.", + "I am close to the far wall now, and the door that sits at the end of the route past the desk is off to my right, while the other door faces into the side wall on my left. Turning right should bring that far door to the center of my heading so I can walk straight at its handle. Without this correction I would drift toward the wrong door.", + "The white door at the end of the room is now centered ahead of me with its handle clearly on its right side, and the desk sits harmlessly to my right. I will move forward to close the remaining gap toward that door. I need to be within reach of the handle before any attempt to open it.", + "The white door at the far end of the room is now centered ahead of me with clear floor between us, so my heading is already correct. I will move forward to close that remaining gap before reaching for the handle.", + "The door now fills most of my view and its lever handle sits on the right side of the panel, but I am still a step short of comfortable reach. I will advance once more to bring the handle within interaction range.", + "I am directly in front of the white door with its panels and the brass lever handle plainly visible to my right, so this looks like a workable interaction pose. I will try to open the door from here.", + "My attempt to open this door left it shut, with the panel and the lever unchanged in front of me. I may still be slightly too far back for the handle to register, so I will edge forward to tighten my position against the door.", + "I am now pressed right up against the door panel, closer than when my earlier attempt failed to move it. I will try the opening interaction again from this tighter position, which should reach the latch.", + "The white door now stands open with the space beyond it visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002305_y-000594_z000117_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002305_y-000594_z000117_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7197dda56ab5ce09167ffb5ceeb0db1dcf5469 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002305_y-000594_z000117_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the large tree next to the gray car.", + "Type": 0, + "Start_Pose": [ + -2304.657, + -594.469, + 117.023, + -0.051, + 1.371, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2304.657, + -594.469, + 117.023, + -0.051, + 1.371, + -0.0 + ], + [ + -2304.657, + -594.469, + 117.023, + -0.051, + -23.629, + -0.0 + ], + [ + -2189.35, + -644.915, + 117.185, + -0.051, + -23.629, + -0.0 + ], + [ + -2074.043, + -695.361, + 116.538, + -0.051, + -23.629, + -0.0 + ], + [ + -1958.736, + -745.807, + 118.793, + -0.051, + -23.629, + -0.0 + ], + [ + -1843.429, + -796.253, + 122.015, + -0.051, + -23.629, + -0.0 + ], + [ + -1728.122, + -846.698, + 121.854, + -0.051, + -23.629, + -0.0 + ], + [ + -1612.815, + -897.144, + 117.825, + -0.051, + -23.629, + -0.0 + ], + [ + -1612.815, + -897.144, + 117.825, + -0.051, + 1.371, + -0.0 + ], + [ + -1486.992, + -894.133, + 115.742, + -0.051, + 1.371, + -0.0 + ], + [ + -1361.169, + -891.122, + 115.402, + -0.051, + 1.371, + -0.0 + ], + [ + -1361.169, + -891.122, + 115.402, + -0.051, + 1.371, + -0.0 + ] + ], + "Rationale": [ + "From the roadside I can see a dark gray car parked at the curb ahead with a large tree rising right beside it, but my heading points down the open street rather than at that pair. I will turn left to swing the big trunk toward the center of my view and line myself up with the grass and sidewalk strip that runs to it. That should give me a clean straight approach without stepping into the traffic lane.", + "The large tree and the parked gray car now sit near the center of my view with the sidewalk running straight toward them. I will move forward along this walkway to start closing the distance.", + "The car's rear and the tall trunk beside it have grown noticeably larger, so my heading is carrying me correctly toward the target. The path ahead along the curb strip is still unobstructed, so I will continue forward.", + "I can now read the plate on the gray car and the tree beside it fills much more of my view, but I am still several car lengths short of standing next to it. The walkway between the hedge and the curb remains clear, so another step forward should keep shrinking that gap.", + "The gray car is close on my right and the thick trunk of the large tree stands just ahead of it on the grass strip. I will keep moving forward to reach the base of that tree.", + "The parked car now takes up the right edge of my view and the target trunk is nearly alongside me on the grass. A further step forward should bring me level with the tree next to that car.", + "The big tree trunk is directly ahead in the grass strip with the gray car just beyond it at the curb. I will advance once more to draw level with the tree base.", + "The large trunk now looms right in front of me and my view has drifted toward the hedge and house on the left, pushing the gray car to the far edge. I will turn right to face back along the curb so the tree and the car it stands beside are both squarely in front of me. That should let me close the last short gap without brushing the hedge line.", + "The large tree trunk now stands just ahead on the left side of my path, with the car parked at the curb close on my right, confirming this is the tree beside it. My heading points straight down the grass strip between the trunk and the curb, so I will move forward to close the remaining gap.", + "The trunk has grown much larger in my left foreground and the parked car's rear quarter is now beside me, so I am nearly level with the tree. One more step forward should bring me right alongside the trunk rather than stopping short of it.", + "The large tree trunk is directly beside me at arm's length, with the car parked at the curb on my right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002322_y000911_z000124_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002322_y000911_z000124_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..745c574196d735beb02239b713459f4da6678b9e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002322_y000911_z000124_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the area and move close to the trash bin beside the black trash bag and the tree trunk.", + "Type": 1, + "Start_Pose": [ + -2322.108, + 911.213, + 124.398, + -0.051, + 60.3, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2322.108, + 911.213, + 124.398, + -0.051, + 60.3, + 0.0 + ], + [ + -2322.108, + 911.213, + 124.398, + -0.051, + 35.3, + -0.0 + ], + [ + -2322.108, + 911.213, + 124.398, + -0.051, + 10.3, + -0.0 + ], + [ + -2322.108, + 911.213, + 124.398, + -0.051, + -14.7, + 0.0 + ], + [ + -2322.108, + 911.213, + 124.398, + -0.051, + -39.7, + -0.0 + ], + [ + -2322.108, + 911.213, + 124.398, + -0.051, + -64.7, + 0.0 + ], + [ + -2268.321, + 797.426, + 116.881, + -0.051, + -64.7, + 0.0 + ], + [ + -2214.534, + 683.639, + 113.835, + -0.051, + -64.7, + 0.0 + ], + [ + -2160.747, + 569.852, + 113.062, + -0.051, + -64.7, + 0.0 + ], + [ + -2160.747, + 569.852, + 113.062, + -0.051, + -39.7, + 0.0 + ], + [ + -2063.912, + 489.458, + 108.256, + -0.051, + -39.7, + 0.0 + ], + [ + -2063.912, + 489.458, + 108.256, + -0.051, + -39.7, + 0.0 + ] + ], + "Rationale": [ + "From my starting spot on the driveway I only see the brick garage door, the covered porch and the front lawn, with no trash bin, black bag or bare tree trunk anywhere in view. I will turn left to begin a steady scan toward the more open yard and street side, where curbside bins are usually placed.", + "The rotation has brought the porch, lawn bollards and neighboring houses into view, but there is still no trash bin or black bag near any tree. I will keep turning left in the same direction, since the tree line and street edge appearing on the left are the most promising area for curbside trash.", + "Now I can see the white picket fence, large trees and a walkway leading out toward the street, yet no trash bin or black bag is visible along them. I will continue the same leftward scan to bring the roadside curb and the tree trunks fully into view.", + "The street, sidewalk and a row of trunks are now in front of me, but I still cannot make out a bin or black bag at this curb. Continuing the same leftward turn should sweep the near curb line where a bin beside a trunk would most likely stand.", + "I can now see the target: a grey wheeled trash bin at the curb with a black trash bag slumped beside it, right next to a tall trunk, sitting left of my heading. I will turn left once more to bring it closer to the center of my view before walking toward it.", + "The trash bin with the black bag beside it and the trunk is now roughly centered ahead of me across the grass and sidewalk. I will walk forward along this open paved stretch to close the distance toward it.", + "The bin and the black bag beside it look noticeably larger and lower in my view, so my forward walking is closing the gap. I will step forward again to keep approaching the curb where the bin stands next to the trunk.", + "The trash bin and its black bag now fill a good part of the lower center of my view, with the trunk and pole just to the right of them. I will advance once more to get properly close to the bin at the curb.", + "The gray trash bin with the black bag slumped against it now sits directly ahead of me at the curb, only a short step away, but it is drifting to the right of my centered heading and the roadway opens up straight in front. I will turn right to swing my heading back along the grass strip and curb line, keeping the bin and the nearby tree trunk on my approach side rather than walking out into the street. This should give me a clean short forward path to close the last bit of distance.", + "From this heading the trash bin and its black bag are close on my left at the curb, with the tree trunk and grassy strip on my right marking a clear walkable lane. A single step forward should bring me level with the bin so I am standing right beside it. I will move forward to close that remaining gap.", + "The trash bin is now at my side, filling the lower left of my view beside the tree trunk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002327_y-002177_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002327_y-002177_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a9167767a2979df0d4fdbfe77fd5af73847d855 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002327_y-002177_z000169_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "First, go to the white desk in the hallway, then proceed to the nearby door.", + "Type": 3, + "Start_Pose": [ + -2326.694, + -2177.43, + 168.793, + -0.051, + -0.621, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2326.694, + -2177.43, + 168.793, + -0.051, + -0.621, + 0.0 + ], + [ + -2200.843, + -2178.794, + 168.793, + -0.051, + -0.621, + 0.0 + ], + [ + -2074.991, + -2180.158, + 168.308, + -0.051, + -0.621, + 0.0 + ], + [ + -2074.991, + -2180.158, + 168.308, + -0.051, + -25.621, + -0.0 + ], + [ + -1965.106, + -2216.809, + 168.538, + -0.051, + -25.621, + -0.0 + ], + [ + -1901.147, + -2236.732, + 168.707, + -0.051, + -25.621, + -0.0 + ], + [ + -1901.147, + -2236.732, + 168.707, + -0.051, + -25.621, + -0.0 + ], + [ + -1984.462, + -2196.777, + 168.707, + -0.051, + -25.621, + -0.0 + ], + [ + -2067.777, + -2156.822, + 168.273, + -0.051, + -25.621, + -0.0 + ], + [ + -2148.763, + -2154.373, + 168.793, + -0.051, + -25.621, + -0.0 + ], + [ + -2148.763, + -2154.373, + 168.793, + -0.051, + -0.621, + 0.0 + ], + [ + -2148.763, + -2154.373, + 168.793, + -0.051, + 24.379, + 0.0 + ], + [ + -2148.763, + -2154.373, + 168.793, + -0.051, + 49.379, + 0.0 + ], + [ + -2148.763, + -2154.373, + 168.793, + -0.051, + 74.379, + 0.0 + ], + [ + -2148.763, + -2154.373, + 168.793, + -0.051, + 74.379, + 0.0 + ] + ], + "Rationale": [ + "The hallway runs straight ahead, and a small white desk with a red object on it stands against the left wall partway down. I will walk forward along the runner to close that distance before dealing with any doorway.", + "The white desk on the left has grown noticeably larger, so my heading down the corridor is right. Nothing blocks the runner, so I will keep walking forward to bring the desk within a step or two of my side.", + "The white desk with its book and red candle now sits close on my left, offset from my forward heading. I will turn left so the desk moves into the centre of my view and my approach lines up with it.", + "After turning, the desk sits ahead and slightly left with its drawer front and tabletop clearly in view. A short walk forward should put me right beside it.", + "The desktop with the book and candle is now near enough that I can see the wood grain, but I am still a stride short of standing at it. I will step forward once more to close that last gap.", + "The white desk is directly under me, its book and candle at arm's length against the hallway wall. I have reached the white desk in the hallway. I mark reaching it and now turn my attention to the nearby door off this corridor.", + "Standing this close to the desk and wall leaves me almost no room to swing around toward the door on the other side of the corridor. I will step back from the desk to regain the open runner and the space I need to reorient.", + "Backing up has already pulled the desk fully into view and reopened the striped runner behind me. I will keep stepping back so I stand clear in the corridor with enough room to face the door along the opposite wall.", + "The white desk with its candle and book sits close on my left, so that stop is behind me and the door set into the right-hand wall of the hallway is what I want now. Standing pressed against the desk gives me no room to swing around, so I will back up one more step to open space for reorienting.", + "Backing up has pushed the white desk further down the hallway on my left and left clear floor around me. The doorway I want lies off to my right along the near wall, so I will turn right to start bringing it into view.", + "My view is still dominated by the corridor running away ahead, with only the pale edge of the near wall creeping in on the right. The door has not yet come into the centre of my view, so I will turn right again to swing toward it.", + "The tall white panelled door now fills the right half of my view while the corridor slides off to the left. I am close to facing it, so another right turn should put its face squarely in front of me.", + "The painted panels of the door now cover nearly my whole view, and a sliver of a brass lever shows at the lower right margin. I will turn right once more so the door face and its handle sit centred before me.", + "I stand directly at the door, its lock and brass lever centred an arm's length in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002336_y-000114_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002336_y-000114_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d90556d82f4be8c29389365e6dddbc862433b4a6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002336_y-000114_z000098_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go towards the porch of the house.", + "Type": 0, + "Start_Pose": [ + -2336.449, + -113.918, + 98.15, + -0.301, + -120.316, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2336.449, + -113.918, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2399.978, + -222.565, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2463.507, + -331.212, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2463.507, + -331.212, + 98.15, + -0.301, + -95.316, + -0.0 + ], + [ + -2475.167, + -456.528, + 116.193, + -0.301, + -95.316, + -0.0 + ], + [ + -2486.828, + -581.843, + 116.424, + -0.301, + -95.316, + -0.0 + ], + [ + -2498.488, + -707.159, + 114.16, + -0.301, + -95.316, + -0.0 + ], + [ + -2534.333, + -770.816, + 114.942, + -0.301, + -95.316, + -0.0 + ], + [ + -2547.469, + -895.739, + 123.356, + -0.301, + -95.316, + -0.0 + ], + [ + -2547.469, + -895.739, + 123.356, + -0.301, + -70.316, + 0.0 + ], + [ + -2505.076, + -1014.241, + 131.185, + -0.301, + -70.316, + 0.0 + ], + [ + -2462.684, + -1132.744, + 139.014, + -0.301, + -70.316, + 0.0 + ], + [ + -2462.684, + -1132.744, + 139.014, + -0.301, + -95.316, + 0.0 + ], + [ + -2474.344, + -1258.06, + 147.293, + -0.301, + -95.316, + 0.0 + ], + [ + -2503.957, + -1361.523, + 165.014, + -0.301, + -95.316, + 0.0 + ], + [ + -2503.957, + -1361.523, + 165.014, + -0.301, + -95.316, + 0.0 + ] + ], + "Rationale": [ + "From the curb I can see the house across the front lawn, with its covered porch and red front door set back behind the white picket fence to the right of the garage. Nothing blocks the paved walk ahead of me, so I will move forward off the roadside to begin closing the distance toward that porch.", + "The porch columns and the red door look slightly larger now, confirming my forward motion is carrying me toward the house rather than along the street. The path ahead past the mailbox and the tree is still clear, so I will keep advancing.", + "My heading has drifted so that the mailbox and hedge fill the left of my view while the porch with the red door sits off to my right. I will turn right to place that door and the walkway leading to it near the center of my view before continuing.", + "The turn has brought the porch and its red door into the middle of my view, with the concrete walkway running toward it. With my heading aligned, I will move forward along that walkway to shorten the remaining distance.", + "The porch roof, columns and red door now occupy much more of my view, so the previous step clearly reduced the gap. The walkway continues straight ahead between the hedge and the picket fence, so I will advance again.", + "The house facade now spans most of my view and the red door remains near my heading, so I am still on line with the porch. I will keep moving forward along the paved walk to close the remaining yard distance.", + "I am now close enough to see the porch decking, the railing and the wall lamps beside the red door, with the flowering shrubs flanking the walk on both sides. The walkway strip between them is still open, so I will continue forward toward the porch.", + "The porch overhang now fills the upper part of my view and the red door with its window panes is directly ahead, only a short stretch of walk away. I will step forward once more to bring myself up to the porch itself.", + "The red front door and its covered porch are now close ahead, but dense flowering shrubs crowd both sides of the narrow walkway right in front of me. I will turn slightly right to aim at the more open stretch of the porch front, which should give me cleaner room to close the last few steps.", + "From this angle the porch deck, railing and brick planter are clearly visible with the red door just left of my heading. Moving forward should carry me off the lawn edge and up close to the porch front.", + "The porch structure now dominates my view, with the door frame and planter box close on either side of my heading. Another step forward should bring me right to the edge of the porch decking.", + "I am at the porch front, but the red door has drifted to the left side of my view while the railing and planter fill the right. Turning left should bring the door and the porch decking back to the center of my heading for a straight final approach.", + "The red door is now centered between the porch posts with the wooden decking directly ahead of me. Moving forward should step me onto the porch and shorten the remaining gap to the entrance.", + "I am on the porch decking with the red door squarely in front of me, only a short distance away. One more forward step should place me right at the entrance, close enough for the porch to be reached.", + "The red front door and its handle fill my view at arm's length on the porch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002341_y001456_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002341_y001456_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c62fa84e7f0fed6d7efccbfd61327e9c08bdc50a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002341_y001456_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white side door to the left of the central garage storage rack.", + "Type": 4, + "Start_Pose": [ + -2341.095, + 1456.335, + 168.15, + 0.0, + 83.631, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2341.095, + 1456.335, + 168.15, + 0.0, + 83.631, + 0.0 + ], + [ + -2341.095, + 1456.335, + 168.15, + 0.0, + 58.631, + -0.0 + ], + [ + -2275.579, + 1563.797, + 168.15, + 0.0, + 58.631, + -0.0 + ], + [ + -2210.064, + 1671.26, + 168.15, + 0.0, + 58.631, + -0.0 + ], + [ + -2144.548, + 1778.723, + 168.15, + 0.0, + 58.631, + -0.0 + ], + [ + -2077.299, + 1852.998, + 168.15, + 0.0, + 58.631, + -0.0 + ], + [ + -2077.299, + 1852.998, + 168.15, + 0.0, + 58.631, + -0.0 + ], + [ + -2077.299, + 1852.998, + 168.15, + 0.0, + 58.631, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white side door sits on the left portion of my view, well left of the central storage rack, so my current heading points too far toward the shelving. I will turn left to bring that door closer to the middle of my view before advancing. This should give me a straight approach line across the open garage floor.", + "The target white door now sits near the center of my view with clear concrete floor between me and it. I will move forward to close that distance, since the door is still far too distant for the handle to be reachable. Nothing blocks this lane apart from shelving standing off to either side.", + "The door is noticeably larger now and its brass handle is becoming visible, but I am still several steps short of interaction range. I will continue forward along the same heading, keeping the shelf and workbench on my left clear of my shoulder. The gap to the door frame should keep shrinking.", + "The white door with its frame now fills much of my view and the lever handle is clearly on its right side, still slightly beyond arm's reach. I will step forward again to bring myself directly in front of that handle. The alignment looks good, so no additional turning seems necessary.", + "I am close to the door now, with its panels and the lever handle plainly in front of me, but a small gap remains before I am squarely at the threshold. I will take one more short step forward to settle into a reliable interaction distance. That should place the handle within easy reach.", + "The white door's painted panels now fill my entire view, confirming I am standing directly at its face within reach of the latch. This is the side door left of the central storage rack that the task names, so I will attempt to open it here. Operating the latch should swing the door inward.", + "The white side door now stands swung open, revealing the lit room and cabinets beyond it. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002345_y-001580_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002345_y-001580_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..61f41ea6f779300ecd78202e7576adf3aff97d3f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002345_y-001580_z000168_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the door.", + "Type": 0, + "Start_Pose": [ + -2345.445, + -1580.448, + 168.15, + -0.051, + -62.156, + 0.0 + ], + "Action": [ + "LookDown", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2345.445, + -1580.448, + 168.15, + -0.051, + -62.156, + 0.0 + ], + [ + -2345.445, + -1580.448, + 168.15, + -0.051, + -62.156, + 0.0 + ], + [ + -2345.445, + -1580.448, + 168.15, + -0.051, + -37.156, + 0.0 + ], + [ + -2345.445, + -1580.448, + 168.15, + -0.051, + -12.156, + 0.0 + ], + [ + -2222.862, + -1588.581, + 168.15, + -0.051, + -12.156, + 0.0 + ], + [ + -2100.233, + -1603.954, + 168.15, + -0.051, + -12.156, + 0.0 + ], + [ + -2100.233, + -1603.954, + 168.15, + -0.051, + -37.156, + -0.0 + ], + [ + -2100.233, + -1603.954, + 168.15, + -0.051, + -62.156, + 0.0 + ], + [ + -2100.233, + -1603.954, + 168.15, + -0.051, + -87.156, + 0.0 + ], + [ + -2093.988, + -1729.658, + 168.15, + -0.051, + -87.156, + 0.0 + ], + [ + -2087.743, + -1855.362, + 168.15, + -0.051, + -87.156, + 0.0 + ], + [ + -2081.499, + -1981.066, + 168.15, + -0.051, + -87.156, + 0.0 + ], + [ + -2081.499, + -1981.066, + 168.15, + -0.051, + -87.156, + 0.0 + ] + ], + "Rationale": [ + "The paneled door I need to reach stands on the far wall ahead of me, but my view is tilted high and filled with ceiling, so I cannot judge the floor space between me and it. I will look down to bring the near bed and the open floor into view and see which way the walkable route runs.", + "With my view lowered I can see that a bed fills the floor immediately in front of me, so walking straight at the door on the far wall would put me into the mattress. I will turn right to swing my heading off the bed and look for open floor I can actually walk along.", + "My new heading has cleared most of the near bed, yet its foot still sits in my path and the second bed narrows the middle of the room. I will turn right once more to line up with the wide strip of bare floor along the wardrobe and window wall, which should give me a passable lane.", + "I am now aimed down the clear lane of floor that runs past the tall wardrobe and the curtained window, with nothing between my feet and that open stretch. I will step forward to get clear of the beds and gain room on the far side of the room, from where the door should be reachable.", + "The step advanced me along the open floor, with the wardrobe and window now noticeably closer and the way ahead still free of furniture. I will move forward again to finish crossing the room to that far corner area, where turning back toward the door should be unobstructed.", + "My forward motion has brought me right up against the tall white wardrobe and the curtained window beside it, and no door is anywhere in front of me, so continuing straight ahead would only press me into furniture. This heading was clearly wrong for reaching the door, so I will turn left to sweep my view back across the room and look for the door instead.", + "The turn has pulled the wardrobe to the right edge of my view and revealed the bed and the far wall, but the door I need is still not in sight. I will turn left again to keep rotating toward the wall where the door should appear.", + "The white paneled door with its brass handle is now visible on the left side of my view, past the head of the bed. One more left turn should bring it near the center of my view so I can walk straight at it without clipping the bed.", + "The door is now centered ahead of me with clear open floor between us, and the bed and wardrobe sit safely to either side. With my heading aligned, I will step forward to begin closing the remaining distance to the door.", + "The last step worked and the door now looks noticeably larger and still sits straight ahead, with the pictures on either side framing it symmetrically. I am still several paces short of it, so I will advance again to keep closing in.", + "The paneled door with its brass handle now sits centered directly ahead of me, with the flanking pictures spread evenly to either side, so my heading is well aligned. A short strip of floor still separates me from the door frame, so I will step forward once more to close that remaining gap.", + "The door panels and its brass handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002365_y-000596_z000114_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002365_y-000596_z000114_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a588dbc69f138d30573981e619541f38d6931b1e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002365_y-000596_z000114_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the gray car parked on the street.", + "Type": 0, + "Start_Pose": [ + -2364.816, + -595.908, + 114.319, + -0.051, + 1.371, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2364.816, + -595.908, + 114.319, + -0.051, + 1.371, + -0.0 + ], + [ + -2238.993, + -592.897, + 119.973, + -0.051, + 1.371, + -0.0 + ], + [ + -2113.17, + -589.885, + 120.359, + -0.051, + 1.371, + -0.0 + ], + [ + -1987.347, + -586.874, + 111.142, + -0.051, + 1.371, + -0.0 + ], + [ + -1861.524, + -583.863, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1735.701, + -580.851, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1609.878, + -577.84, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1484.055, + -574.829, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1484.055, + -574.829, + 98.15, + -0.051, + -23.629, + -0.0 + ], + [ + -1390.106, + -593.977, + 98.15, + -0.051, + -23.629, + -0.0 + ], + [ + -1390.106, + -593.977, + 98.15, + -0.051, + -23.629, + -0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can see a gray car parked along the near curb of the street ahead, slightly left of my heading. My current facing already lines up with the road running toward it, so I will move forward to begin closing the gap.", + "The parked gray car is now noticeably larger and still sits just left of my forward direction, confirming I am headed the right way. I will keep moving forward since no adjustment of heading is needed yet.", + "The car's rear end and license plate are becoming clearer as the distance shrinks, and the roadway in front of me stays clear. Another forward step should continue closing the remaining gap.", + "I am now on the street surface with the gray car directly ahead of me along the curb, still several car lengths away. Continuing straight forward is the most direct way to reduce that distance.", + "The gray car's tail lights and plate are clearly readable now, so I am within a short distance of it. I will advance again to bring myself right up beside the vehicle.", + "The gray car now fills much of the left side of my view, meaning I am very close but not yet alongside it. One more forward step should place me right at the vehicle.", + "I am nearly beside the gray car, with its rear quarter dominating the left edge of my view. A final short advance should bring me level with its body rather than trailing behind it.", + "At this range the gray car has slid to the left margin of my view and is partly cut off, so my straight heading no longer faces it. I will turn left to bring the vehicle back into the center of my view and face it directly.", + "The gray car parked at the curb now fills the left half of my view with its rear and side clearly framed, so my heading is set on it. There is still a short gap of open pavement between me and its body, so I will move forward once more to close that remaining distance and stand right beside it.", + "The gray parked car's side panel and window fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002365_y-000596_z000114_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002365_y-000596_z000114_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..189095c56cc6fd29da00cddc8b4fae2d97ff7b14 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002365_y-000596_z000114_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the green bell pepper near the gray car parked on the street.", + "Type": 5, + "Start_Pose": [ + -2364.816, + -595.908, + 114.319, + -0.051, + 1.371, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1328.393, + -576.086, + 45.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2364.816, + -595.908, + 114.319, + -0.051, + 1.371, + 0 + ], + [ + -2238.993, + -592.897, + 119.973, + -0.051, + 1.371, + -0.0 + ], + [ + -2113.17, + -589.885, + 120.359, + -0.051, + 1.371, + -0.0 + ], + [ + -1987.347, + -586.874, + 111.142, + -0.051, + 1.371, + -0.0 + ], + [ + -1861.524, + -583.863, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1735.701, + -580.851, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1609.878, + -577.84, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1484.055, + -574.829, + 98.15, + -0.051, + 1.371, + -0.0 + ], + [ + -1484.055, + -574.829, + 98.15, + 0.0, + 1.371, + -0.0 + ], + [ + -1484.055, + -574.829, + 98.15, + 0.0, + 1.371, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1328.393, + -576.086, + 45.15, + 0.0, + 0.0, + 0.0 + ], + [ + -1485.176, + -553.496, + 68.256, + -28.202, + 51.515, + 1.862 + ], + [ + -1485.176, + -553.496, + 68.256, + -28.202, + 51.515, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1036.6, + 910.8, + 784.9, + 659.0, + 533.2, + 407.3, + 281.5, + 155.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the gray car parked ahead along the curb on my left, with a small green bell pepper sitting on the road just beside its rear bumper. The pepper is still far down the street, so I will walk forward along the road to close that distance.", + "The parked gray car and the green pepper beside its rear bumper are noticeably larger now, confirming my heading is aimed correctly down the street. The pepper remains well out of reach, so I keep walking forward.", + "The green pepper stays just right of the car's rear bumper and remains centered slightly left in my view, so no turn is needed. I continue straight ahead to shorten the remaining gap.", + "The car's taillights and license plate are now clearly readable and the pepper sits plainly on the asphalt beside the rear wheel. The road ahead is clear, so I step forward again to get closer to grasping range.", + "The pepper has grown large in my view and sits just to the right of the car's rear corner, still a couple of paces away. I advance again to bring it within arm's reach.", + "I am now beside the parked car's rear, and the green pepper is close ahead but still slightly beyond a comfortable grasp. One more step forward should place it directly within reach.", + "The pepper is very near, low on the pavement by the car's rear wheel, though it still sits a little farther out than I could comfortably grab. I take one more short step so it should be squarely within grasping distance.", + "The green bell pepper now fills the lower part of my view right at my feet, beside the parked gray car's rear wheel, well within arm's reach. I will attempt to pick it up now, since nothing blocks my hands from the object.", + "The green bell pepper is now held in my hands rather than resting on the street. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002404_y-002199_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002404_y-002199_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35f4bc4364b95ab3de0f87fe9d40d014787124fd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002404_y-002199_z000169_t0_a/infos.json @@ -0,0 +1,56 @@ +{ + "Instruction": "Go to the door.", + "Type": 0, + "Start_Pose": [ + -2404.456, + -2198.802, + 168.793, + -0.051, + 16.264, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2404.456, + -2198.802, + 168.793, + -0.051, + 16.264, + -0.0 + ], + [ + -2283.612, + -2169.32, + 168.793, + -0.051, + 16.264, + -0.0 + ], + [ + -2164.573, + -2154.528, + 168.793, + -0.051, + 16.264, + -0.0 + ], + [ + -2164.573, + -2154.528, + 168.793, + -0.051, + 16.264, + -0.0 + ] + ], + "Rationale": [ + "I can see a white paneled door set into the right-hand wall of this corridor, some distance ahead of me. The hallway floor in front of me is clear, so I will move forward along it to close the gap toward that door.", + "The door on my right is noticeably larger and closer now, though I am still short of standing beside it. I will move forward once more to bring myself level with the doorway.", + "The paneled door now fills the right side of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d52c5e86d79f5d8073a2859f8ce874540985386f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the door on the left.", + "Type": 2, + "Start_Pose": [ + -2420.922, + -2167.172, + 168.793, + -0.051, + 157.082, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2420.922, + -2167.172, + 168.793, + -0.051, + 157.082, + -0.0 + ], + [ + -2536.846, + -2118.161, + 168.214, + -0.051, + 157.082, + -0.0 + ], + [ + -2536.846, + -2118.161, + 168.214, + -0.051, + 132.082, + -0.0 + ], + [ + -2621.196, + -2024.75, + 168.25, + -0.051, + 132.082, + -0.0 + ], + [ + -2705.546, + -1931.339, + 168.25, + -0.051, + 132.082, + -0.0 + ], + [ + -2705.546, + -1931.339, + 168.25, + -0.051, + 107.082, + -0.0 + ], + [ + -2740.315, + -1847.043, + 168.15, + -0.051, + 107.082, + -0.0 + ], + [ + -2740.315, + -1847.043, + 168.15, + -0.051, + 107.082, + -0.0 + ] + ], + "Rationale": [ + "Two pale paneled doors stand across the room, and the one set into the left-hand wall near the corner is the one I want, so I fix on that wall-mounted door rather than a position in a row. The whole open floor still separates me from it, so I walk straight ahead to close that distance before adjusting my heading.", + "From here the door in the left-hand wall sits well off to the side of my view while the other door is nearly straight ahead. Walking on as I am would carry me past my target, so I turn left to bring that left door toward the centre of my view.", + "The turn has swung the left-wall door into my forward view, with the second door off to the right and a clear stretch of floor between us. Nothing blocks the way, so I step forward to close on that door.", + "The door I am heading for now fills much of the left side of my view, its brass knob clearly readable, while the other door sits against the wall to my right. I am still a few paces short of it, so I keep walking forward to reach it.", + "I am close now, but the door is edge-on at my left with its frame and handle skewed, and my heading points into the blank corner wall instead. I turn left to square myself with the door face before taking the last step.", + "The door now faces me squarely, its panels and lever handle centred just ahead. A short gap remains before I am standing at it, so I take one more step forward to close in.", + "The door surface fills my view at arm's length with its handle at the edge. I have arrived at the left door, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002425_y-000841_z000120_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002425_y-000841_z000120_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50df87b9b60b021ac86702afbe97b00b39c105c9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002425_y-000841_z000120_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the flowerbed.", + "Type": 0, + "Start_Pose": [ + -2424.573, + -841.228, + 119.772, + -0.051, + -53.845, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2424.573, + -841.228, + 119.772, + -0.051, + -53.845, + -0.0 + ], + [ + -2350.32, + -942.85, + 125.412, + -0.051, + -53.845, + -0.0 + ], + [ + -2350.32, + -942.85, + 125.412, + -0.051, + -78.845, + -0.0 + ], + [ + -2325.971, + -1066.331, + 132.675, + -0.051, + -78.845, + -0.0 + ], + [ + -2301.621, + -1189.812, + 139.937, + -0.051, + -78.845, + -0.0 + ], + [ + -2301.621, + -1189.812, + 139.937, + -0.051, + -78.845, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the raised brick planter with flowers tucked against the porch railing on the left side of the house, which is the flowerbed I need to reach. The open lawn ahead is clear, so I will move forward to close the distance along the front of the house before refining my heading.", + "The flower-filled brick planter now sits at the left edge of my view while my heading still points down the length of the siding, so continuing straight would carry me past it. I will turn left to bring the flowerbed toward the center of my view and line up a direct approach.", + "The porch with the red door and the flower-topped brick planter are now centered ahead of me, so my heading is aimed at the target. I will move forward across the grass to close the remaining distance to the flowerbed.", + "The brick planter and its flowers now fill much of the lower view, but I am still a short step short of standing right at the bed. I will move forward once more to finish closing that gap and stop directly at the flowerbed.", + "The flowerbed's blooms and leaves are directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002425_y-001032_z000132_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002425_y-001032_z000132_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85c9193fbdc611d24b8f6f05b62a9069760d801a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002425_y-001032_z000132_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the area to find the mailbox and go to it.", + "Type": 1, + "Start_Pose": [ + -2424.858, + -1031.576, + 132.35, + -0.051, + -135.582, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2424.858, + -1031.576, + 132.35, + -0.051, + -135.582, + 0.0 + ], + [ + -2424.858, + -1031.576, + 132.35, + -0.051, + -160.582, + -0.0 + ], + [ + -2424.858, + -1031.576, + 132.35, + -0.051, + 174.418, + -0.0 + ], + [ + -2424.858, + -1031.576, + 132.35, + -0.051, + 149.418, + -0.0 + ], + [ + -2424.858, + -1031.576, + 132.35, + -0.051, + 124.418, + -0.0 + ], + [ + -2495.997, + -927.75, + 125.491, + -0.051, + 124.418, + -0.0 + ], + [ + -2495.997, + -927.75, + 125.491, + -0.051, + 99.418, + -0.0 + ], + [ + -2525.344, + -828.028, + 118.906, + -0.051, + 99.418, + -0.0 + ], + [ + -2554.068, + -710.626, + 113.921, + -0.051, + 99.418, + -0.0 + ], + [ + -2574.663, + -586.463, + 115.527, + -0.051, + 99.418, + -0.0 + ], + [ + -2574.663, + -586.463, + 115.527, + -0.051, + 124.418, + -0.0 + ], + [ + -2624.539, + -493.603, + 119.579, + -0.051, + 124.418, + -0.0 + ], + [ + -2624.539, + -493.603, + 119.579, + -0.051, + 124.418, + -0.0 + ] + ], + "Rationale": [ + "From where I stand the view is filled by the porch and its red front door, with only shrubs and a lamp post off to the left, and no mailbox anywhere in sight. Since mailboxes usually sit out near the street rather than against the house wall, I will turn left to begin a steady scan away from the facade and toward the open yard.", + "The yard, lamp post and a long hedge are now in front of me, with neighboring houses beyond, but I still see no mailbox. I will keep rotating left in the same direction to sweep further toward the street frontage where a curbside mailbox is more likely.", + "The hedge and trees ahead block most of my view of the roadway, and nothing resembling a mailbox stands within this section of the yard. Continuing the same leftward rotation should bring the sidewalk and curb edge into view, which is the most plausible place to spot one.", + "Now I can see the roadway, the sidewalk and a picket fence across the street, and there is a bare wooden post standing near the curb on my left side. That post looks like the kind that carries a mailbox, so I will turn left once more to bring the curb strip and that post squarely in front of me.", + "I am facing the open street frontage with the concrete walkway running ahead of me and the wooden curbside post standing to the left of center. The path looks clear of obstacles, so I will walk forward to close the gap toward the curb and get a better look at what sits on that post.", + "I have reached the sidewalk area, but a large hedge now crowds the right of my view while the post I want sits ahead and to my left along the curb. I will turn left to line up with the sidewalk running parallel to the street so my approach stays clear of that hedge.", + "Facing along the street now, I can see the wooden post ahead on my right with a pale boxy shape mounted on top, which is very likely the mailbox. The sidewalk in front of me is open, so I will walk forward to close in and confirm it.", + "The object on the wooden post ahead to my right is now clearly a mailbox, so the target is identified and I no longer need to search. I will keep walking forward along the sidewalk to reduce the remaining distance to it.", + "The mailbox on its wooden post is clearly visible ahead on my right, close to the curb strip, so the target is confirmed and I no longer need to scan. The sidewalk ahead of me is clear grass and pavement, so I will keep walking forward to close the remaining gap to it.", + "I am now nearly level with the mailbox, and it has slid to the far right edge of my view with its red flag raised. Turning right should bring it back into the center of my heading so I can step straight up to it.", + "The mailbox with its raised red flag now sits centered ahead of me on its post, directly along my heading. A short step forward should place me right at it, close enough to count as reaching the target.", + "The mailbox now fills my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002441_y-000841_z000120_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002441_y-000841_z000120_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55f3b58198c4124a81456fea36bb0fbfd7d29b08 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002441_y-000841_z000120_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Follow the concrete walkway to the red front door on the covered porch and open it.", + "Type": 4, + "Start_Pose": [ + -2440.785, + -841.154, + 119.769, + 0.0, + -98.253, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2440.785, + -841.154, + 119.769, + 0.0, + -98.253, + 0.0 + ], + [ + -2458.851, + -965.71, + 127.998, + 0.0, + -98.253, + 0.0 + ], + [ + -2476.918, + -1090.265, + 136.226, + 0.0, + -98.253, + 0.0 + ], + [ + -2494.984, + -1214.821, + 144.455, + 0.0, + -98.253, + 0.0 + ], + [ + -2513.05, + -1339.376, + 163.784, + 0.0, + -98.253, + 0.0 + ], + [ + -2530.868, + -1452.126, + 165.15, + 0.0, + -98.253, + 0.0 + ], + [ + -2530.868, + -1452.126, + 165.15, + 0.0, + -98.253, + 0.0 + ], + [ + -2530.868, + -1452.126, + 165.15, + 0.0, + -98.253, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red front door sits straight ahead under the covered porch, and the concrete walkway runs from my feet directly toward it. My heading is already lined up with that path, so I will move forward along the walkway to close the distance.", + "The porch columns and railing have grown larger and the red door remains centered in my view, so my path along the walkway is still correct. Nothing blocks the concrete strip ahead, so I will continue advancing toward the door.", + "I can now see the porch decking and the low step where the walkway meets it, with the red door directly beyond. I am still too far back to reach the handle, so another forward step is needed.", + "The red door fills much of my view and its brass handle on the right side is clearly visible, but I am still standing back on the porch boards. I will move forward again to come within arm's reach of the door.", + "I am nearly against the door with its handle just to my right, and the panel is squarely in front of me. One more short step should place me flush at the threshold where the door can be operated.", + "My view is now filled by the red door and the framing right at the threshold, which means I am standing directly in front of it. From this contact distance I will try the handle and push, which should swing the front door open.", + "The red door stands swung open with the interior hallway visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002452_y-002138_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002452_y-002138_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..913d18a6d16086dafc6966f8f361f080adcdd807 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002452_y-002138_z000169_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the office area to the white paneled door on the far wall and open it.", + "Type": 4, + "Start_Pose": [ + -2451.684, + -2138.455, + 168.723, + 0.0, + -169.923, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2451.684, + -2138.455, + 168.723, + 0.0, + -169.923, + 0.0 + ], + [ + -2451.684, + -2138.455, + 168.723, + 0.0, + 165.077, + -0.0 + ], + [ + -2573.298, + -2106.044, + 168.295, + 0.0, + 165.077, + -0.0 + ], + [ + -2573.298, + -2106.044, + 168.295, + 0.0, + 140.077, + -0.0 + ], + [ + -2669.82, + -2025.273, + 168.295, + 0.0, + 140.077, + -0.0 + ], + [ + -2669.82, + -2025.273, + 168.295, + 0.0, + 165.077, + -0.0 + ], + [ + -2791.435, + -1992.861, + 168.295, + 0.0, + 165.077, + -0.0 + ], + [ + -2902.864, + -1960.896, + 168.15, + 0.0, + 165.077, + -0.0 + ], + [ + -2902.864, + -1960.896, + 168.15, + 0.0, + 165.077, + -0.0 + ], + [ + -2902.864, + -1960.896, + 168.15, + 0.0, + 165.077, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the doorway I can see the white paneled door on the far wall well off to my left, while cabinets and a desk crowd the right side of my view. I will turn left to bring that door toward the center of my view and open a clear line across the office floor.", + "The paneled doors on the far wall are now ahead of me with clear wooden floor in between, and the desk and counter stay off to my right. I will move forward to cross the open office area and reduce the distance to that wall.", + "The paneled door sits slightly left of my heading while the office counter and chair fill the right side of my view. I will turn left so my path runs straight over open floor toward the door wall instead of angling into the furniture.", + "Both doors on this end of the room are clearly in front of me now and the floor between me and them is empty. I will move forward again to close the remaining gap to the far wall.", + "I am close to the corner, with one door filling my left side and the target white paneled door with its brass handle to my right. I will turn right to square up on that door so its handle sits centered ahead of me.", + "The white paneled door is now centered in front of me but still a couple of steps away across bare floor. I will move forward to bring the handle within reach.", + "The door now fills most of my view with the lever handle and light switch clearly visible, so I am nearly at contact distance. I will take one more short step forward to stand directly at the door before reaching for it.", + "I am standing right against the white paneled door, close enough that only its panels and center rail fill my view. I will attempt to open it now, which should swing the door clear and complete the task.", + "I see the white paneled door swung inward with the storage room beyond it open to me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002455_y-001669_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002455_y-001669_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb90b2b4fa60e436c1abb0cd910057efbf56377b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002455_y-001669_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the black office chair near the desk.", + "Type": 0, + "Start_Pose": [ + -2455.003, + -1669.362, + 168.15, + -0.051, + -89.941, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2455.003, + -1669.362, + 168.15, + -0.051, + -89.941, + 0.0 + ], + [ + -2455.003, + -1669.362, + 168.15, + -0.051, + -114.941, + -0.0 + ], + [ + -2508.076, + -1783.484, + 168.712, + -0.051, + -114.941, + -0.0 + ], + [ + -2561.149, + -1897.605, + 168.712, + -0.051, + -114.941, + -0.0 + ], + [ + -2561.149, + -1897.605, + 168.712, + -0.051, + -139.941, + 0.0 + ], + [ + -2657.479, + -1978.605, + 168.15, + -0.051, + -139.941, + 0.0 + ], + [ + -2754.294, + -2058.742, + 168.15, + -0.051, + -139.941, + 0.0 + ], + [ + -2754.294, + -2058.742, + 168.15, + -0.051, + -139.941, + 0.0 + ] + ], + "Rationale": [ + "A tall cabinet and wall column fill the right of my view, while the desk area with a dark office chair sits far off at the left edge. I will turn left so that the chair and its desk move toward the center of my view and give me a clear line of approach.", + "The doorway ahead is now open and the desk with the dark office chair is visible ahead and slightly left, with clear floor between us. I will step forward to enter the room and close distance on the chair.", + "I am inside the room now and the black office chair at the desk is clearly visible on the left side of my view with unobstructed floor in front of me. I will continue forward to keep reducing the remaining distance before refining my heading.", + "The chair sits left of the center of my view, partly behind the low counter and side table on my right. I will turn left to point my heading straight at the chair so the remaining approach is direct.", + "The dark office chair at the corner desk is now near the middle of my view with open floor leading to it. I will move forward to close the remaining gap toward it.", + "The chair now dominates the center of my view in front of the desk and hutch, but there is still a short stretch of floor before I am beside it. One more step forward should bring me right up to the chair.", + "The black office chair at the desk is directly in front of me, filling my view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002455_y-001669_z000168_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002455_y-001669_z000168_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9767f3a7c18cb6ba6f783a564ede1e8d8132d1ad --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002455_y-001669_z000168_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the plate near the black office chair near the desk.", + "Type": 5, + "Start_Pose": [ + -2455.003, + -1669.362, + 168.15, + -0.051, + -89.941, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2689.281, + -2086.888, + 118.15, + 90, + 60, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2455.003, + -1669.362, + 168.15, + -0.051, + -89.941, + 0 + ], + [ + -2455.003, + -1669.362, + 168.15, + -0.051, + -114.941, + -0.0 + ], + [ + -2508.076, + -1783.484, + 168.712, + -0.051, + -114.941, + -0.0 + ], + [ + -2561.149, + -1897.605, + 168.712, + -0.051, + -114.941, + -0.0 + ], + [ + -2614.221, + -2011.727, + 168.283, + -0.051, + -114.941, + -0.0 + ], + [ + -2614.221, + -2011.727, + 168.283, + 0.0, + -114.941, + 0.0 + ], + [ + -2614.221, + -2011.727, + 168.283, + 0.0, + -114.941, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2689.281, + -2086.888, + 118.15, + 90.0, + 60.0, + 0.0 + ], + [ + -2689.281, + -2086.888, + 118.15, + 90.0, + 60.0, + 0.0 + ], + [ + -2689.281, + -2086.888, + 118.15, + 90.0, + 60.0, + 0.0 + ], + [ + -2689.281, + -2086.888, + 118.15, + 90.0, + 60.0, + 0.0 + ], + [ + -2689.281, + -2086.888, + 118.15, + 90.0, + 60.0, + 0.0 + ], + [ + -2594.601, + -2020.178, + 138.257, + -28.202, + -64.796, + 1.862 + ], + [ + -2594.601, + -2020.178, + 138.257, + -28.202, + -64.796, + 1.862 + ] + ], + "PD_Dist_2D": [ + 478.8, + 478.8, + 353.4, + 228.6, + 106.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The large white plate sits on the floor beside the desk and the dark office chair, but a wall column on my right crowds my heading and the target sits well off to the left of my facing. I will turn left to bring that corner of the room squarely in front of me before walking in.", + "The plate, the desk and the black office chair are now framed ahead of me with clear floor between us. Nothing blocks the path, so I will walk forward to close the large remaining distance to the target.", + "The plate has grown noticeably larger and stays near the center of my view, confirming my heading is good. I am still several steps short of reaching distance, so I keep walking straight toward it.", + "The plate now fills much of the lower center of my view, right beside the desk and the dark chair, but it is still slightly beyond a comfortable grasp. One more step forward should place it directly at my feet for the pickup.", + "The plate is now immediately in front of me at the lower edge of my view, with the desk and the black office chair right beside it. It should be within reach, so I will attempt to pick it up.", + "The plate from beside the black office chair is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002467_y-001722_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002467_y-001722_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9b2778bdc216d828bc5cfcef496c08a7cd2612a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002467_y-001722_z000169_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the potted plant on the small table.", + "Type": 0, + "Start_Pose": [ + -2467.297, + -1722.29, + 168.793, + -0.051, + -71.536, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2467.297, + -1722.29, + 168.793, + -0.051, + -71.536, + 0.0 + ], + [ + -2467.297, + -1722.29, + 168.793, + -0.051, + -96.536, + 0.0 + ], + [ + -2487.06, + -1828.341, + 168.793, + -0.051, + -96.536, + 0.0 + ], + [ + -2518.913, + -1924.596, + 168.793, + -0.051, + -96.536, + 0.0 + ], + [ + -2533.239, + -2049.637, + 168.793, + -0.051, + -96.536, + 0.0 + ], + [ + -2533.239, + -2049.637, + 168.793, + -0.051, + -121.536, + 0.0 + ], + [ + -2599.068, + -2156.908, + 168.745, + -0.051, + -121.536, + 0.0 + ], + [ + -2599.068, + -2156.908, + 168.745, + -0.051, + -121.536, + 0.0 + ] + ], + "Rationale": [ + "My view is mostly blocked by a wall and door frame directly ahead, with only a narrow sliver of the room visible on the left where greenery and a small table edge appear. I will turn left to swing that partially seen room into the center of my view and locate the potted plant on the small table.", + "The room is now open in front of me, and I can see a small console table with a leafy potted plant standing to the left of the tall white cabinet. The route across the wooden floor looks clear, so I will move forward to start closing the distance toward that table.", + "The potted plant on the narrow table is larger in view than before, confirming I am heading into the right part of the room. Still several steps away, so I will continue forward along the clear floor.", + "The plant and its small table are now clearly on my left with the cabinet ahead of me, and the gap is noticeably shorter. I will take another step forward to bring myself alongside the table before adjusting my heading.", + "The tall cabinet now fills the center of my view while the potted plant on the small table sits at the left edge, so my heading is off the target. I will turn left to bring the plant and its table into the middle of my view for a straight final approach.", + "The potted plant on the small wooden table is now centered ahead of me with the cabinet cleared to my right. Only a short gap remains, so I will move forward to stand right at the table.", + "The potted plant on the small table now fills the near foreground directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..17fb663c10639de41955282df6112f8cd6f5c5c4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the third wall lamp along the hallway.", + "Type": 2, + "Start_Pose": [ + -2470.544, + -2116.729, + 168.398, + -0.051, + -40.89, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2470.544, + -2116.729, + 168.398, + -0.051, + -40.89, + -0.0 + ], + [ + -2375.399, + -2198.889, + 168.655, + -0.051, + -40.89, + -0.0 + ], + [ + -2375.399, + -2198.889, + 168.655, + -0.051, + -15.89, + 0.0 + ], + [ + -2255.026, + -2218.062, + 168.655, + -0.051, + -15.89, + 0.0 + ], + [ + -2134.703, + -2235.956, + 168.094, + -0.051, + -15.89, + 0.0 + ], + [ + -2134.703, + -2235.956, + 168.094, + -0.051, + 9.11, + 0.0 + ], + [ + -2010.431, + -2216.029, + 168.793, + -0.051, + 9.11, + 0.0 + ], + [ + -1886.16, + -2196.101, + 168.793, + -0.051, + 9.11, + 0.0 + ], + [ + -1761.888, + -2176.174, + 168.793, + -0.051, + 9.11, + 0.0 + ], + [ + -1761.888, + -2176.174, + 168.793, + -0.051, + -15.89, + 0.0 + ], + [ + -1761.888, + -2176.174, + 168.793, + -0.051, + -15.89, + 0.0 + ], + [ + -1761.888, + -2176.174, + 168.793, + -0.051, + -15.89, + 0.0 + ] + ], + "Rationale": [ + "From here the left side of the hallway carries a run of wall lamps: one on the near partition, then two more further down past the little white table. The lamps look alike, so I fix on the deepest one, the one standing where the hall opens out at its far end, and I step forward along the corridor toward it.", + "A blank stretch of partition wall now fills most of my view and the open corridor has slid to my right. I turn right to swing back onto the hallway axis so the run of the corridor and the far sconce are ahead of me again.", + "The hallway is open in front of me again, with the console table and the further lamps down on the left. Nothing blocks the runner, so I walk forward to close on the sconce at the far end of the hall.", + "The nearer sconce is already large at my left shoulder, and past it the hall continues toward the bright opening. My target is the lamp deeper along that run, so I keep walking forward rather than stopping here.", + "The corridor ahead is drifting off to the left of my heading and the left wall is crowding my view. A small turn to the right should square me with the passage so I can continue straight toward the lamp at the far end.", + "I am now lined up with the runner, with the console table and the last stretch of wall ahead on my left. I step forward to carry on toward the sconce that sits where the hallway opens into the bright room.", + "I am drawing level with the console table, and ahead on the left wall the lamp beside the opening is clearly lit. The way is still clear, so I keep advancing toward it.", + "The lamp I am after is now high on the left wall just short of the archway into the kitchen area, and the floor between us is open. I walk forward once more to bring myself alongside it.", + "I have come far enough that the sconce has slipped out of view past my left edge, leaving only the partition and the kitchen opening in front of me. I turn left to face the stretch of wall it hangs on and bring it back before me.", + "Facing the wall now, all I catch is the pale rim of the fixture clipped by the top left of my view, since it sits well above eye level. I look up to raise my gaze onto the sconce itself and confirm I am standing right at it.", + "The lit sconce beside the kitchen opening fills my view at arm's reach on the wall. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53a24a1c411d04520461a71e45b8b1ab3fc1f25e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002471_y-002117_z000168_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the second wall lamp along the hallway.", + "Type": 2, + "Start_Pose": [ + -2470.544, + -2116.729, + 168.398, + -0.051, + -40.89, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2470.544, + -2116.729, + 168.398, + -0.051, + -40.89, + -0.0 + ], + [ + -2375.399, + -2198.889, + 168.655, + -0.051, + -40.89, + -0.0 + ], + [ + -2375.399, + -2198.889, + 168.655, + -0.051, + -15.89, + 0.0 + ], + [ + -2255.026, + -2218.062, + 168.655, + -0.051, + -15.89, + 0.0 + ], + [ + -2134.703, + -2235.956, + 168.094, + -0.051, + -15.89, + 0.0 + ], + [ + -2065.007, + -2236.372, + 168.321, + -0.051, + -15.89, + 0.0 + ], + [ + -2065.007, + -2236.372, + 168.321, + -0.051, + -15.89, + 0.0 + ], + [ + -2065.007, + -2236.372, + 168.321, + -0.051, + -15.89, + 0.0 + ] + ], + "Rationale": [ + "Looking down the hallway, one sconce is close on the left wall and the next one along glows further off at the corner, above the little white side table, and that further one is what I want. I will walk forward to close the distance toward it.", + "The near wall and its sconce now fill most of my view, while the passage carrying on toward the side table lamp lies off to my right. I will turn right so my heading follows that stretch of hallway.", + "The corridor is open ahead of me now, and the lamp I am heading for is visible on the left wall above the small white side table. Walking straight forward should carry me toward it.", + "The sconce above the side table has grown noticeably larger and still sits a few paces ahead on my left. Another stride forward should bring me nearly level with it.", + "The lamp is now high on the left wall just ahead, with the small white table almost beside me. A short step forward should put me right underneath it rather than short of it.", + "Standing level with the side table, the lamp has risen past the top edge of my view and only its bracket area is visible. I will look up to bring the whole fixture into sight and confirm I am standing at it.", + "The wall lamp I was heading for hangs directly above me, close and fully in view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002472_y-001637_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002472_y-001637_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c52603b2211ece7a5d2e4d6cad1c57cf2f0dd78 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002472_y-001637_z000169_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Proceed to the leather chair.", + "Type": 0, + "Start_Pose": [ + -2472.348, + -1636.716, + 168.793, + -0.051, + -165.075, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2472.348, + -1636.716, + 168.793, + -0.051, + -165.075, + 0.0 + ], + [ + -2472.348, + -1636.716, + 168.793, + -0.051, + -140.075, + -0.0 + ], + [ + -2568.867, + -1717.49, + 168.793, + -0.051, + -140.075, + -0.0 + ], + [ + -2596.672, + -1798.16, + 168.791, + -0.051, + -140.075, + -0.0 + ], + [ + -2654.503, + -1877.877, + 168.15, + -0.051, + -140.075, + -0.0 + ], + [ + -2654.503, + -1877.877, + 168.15, + -0.051, + -115.075, + -0.0 + ], + [ + -2707.843, + -1991.874, + 168.15, + -0.051, + -115.075, + -0.0 + ], + [ + -2768.582, + -2095.007, + 168.15, + -0.051, + -115.075, + -0.0 + ], + [ + -2768.582, + -2095.007, + 168.15, + -0.051, + -115.075, + -0.0 + ] + ], + "Rationale": [ + "A wide wall fills most of my view, but through the opening on the right I can glimpse a desk with a dark leather office chair beside it. I will turn right to swing that doorway and the chair toward the center of my heading so I can approach without the wall blocking me.", + "The turn has brought the open room with the leather chair into the right half of my view, and the floor ahead is clear hardwood. I will move forward to close distance toward that room and get past the wall edge on my left.", + "The chair is still off to my right and partly cut off by the wall corner beside me, so I am not close enough yet. Continuing forward should clear that corner and open a straight line into the room where the chair sits.", + "I am now inside the room with the whole layout visible, and the leather chair at the desk sits ahead and slightly right of my heading. I will keep moving forward across the open floor to shorten the remaining gap to it.", + "The leather chair sits right of my current heading, near the desk in the corner, while the closed door dominates the left of my view. Turning right should place the chair squarely in front of me before I advance further.", + "The turn has centered the desk area, with the leather chair just left of straight ahead and a few steps away. I will move forward along the open floor to close that remaining distance.", + "The leather chair now fills a large part of my view at the desk, but I am still a step short of standing right at it. One more forward step should bring me directly beside the chair.", + "The leather chair is directly in front of me at arm's reach beside the desk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002475_y-002146_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002475_y-002146_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c842b6bc929cf8943e7df27d868c8ba84bf268e2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002475_y-002146_z000169_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door on the left wall of the office area.", + "Type": 4, + "Start_Pose": [ + -2475.359, + -2145.614, + 168.653, + 0.0, + 157.772, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2475.359, + -2145.614, + 168.653, + 0.0, + 157.772, + 0.0 + ], + [ + -2591.865, + -2098.002, + 168.15, + 0.0, + 157.772, + -0.0 + ], + [ + -2591.865, + -2098.002, + 168.15, + 0.0, + 132.772, + -0.0 + ], + [ + -2677.333, + -2005.614, + 168.15, + 0.0, + 132.772, + -0.0 + ], + [ + -2677.333, + -2005.614, + 168.15, + 0.0, + 107.772, + -0.0 + ], + [ + -2715.749, + -1885.761, + 168.15, + 0.0, + 107.772, + -0.0 + ], + [ + -2715.749, + -1885.761, + 168.15, + 0.0, + 107.772, + -0.0 + ], + [ + -2749.889, + -1846.908, + 168.15, + 0.0, + 107.772, + -0.0 + ], + [ + -2749.889, + -1846.908, + 168.15, + 0.0, + 107.772, + -0.0 + ], + [ + -2749.889, + -1846.908, + 168.15, + 0.0, + 107.772, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the office area I can see a white paneled door set into the left wall and another door on the wall ahead, with clear floor between me and them. I will move forward across the open floor to close distance before choosing my heading toward the left-wall door.", + "Now that I am further into the room, the paneled door on the left wall has slid to the very edge of my view and is partly cut off. I will turn left so that target door comes into the center of my view where I can approach it directly.", + "The turn has brought both the left-wall paneled door and the adjacent door into view, and the target door with its brass knob is now clearly ahead of me on the left. I will move forward to shorten the gap so I can line up on its handle.", + "I am close to the doors now, and the paneled target fills the left portion of my view while the corner and the second door sit to the right, so my heading is still skewed. I will turn left to square up on the target door's face and handle before attempting to open it.", + "The white paneled door now sits centered ahead of me with its knob and lever handle clearly in view. I will move forward a final step to bring the handle within reach for an opening attempt.", + "The white paneled door now fills my view and its brass knob and lever handle sit just right of center, so I appear close enough to reach the latch. I will try to open it from here, and the door should swing inward if my reach is within range.", + "My attempt at the handle left the door shut, with the panels and latch unchanged in front of me, so I was likely still a little too far to engage it. I will step forward a short distance to close the remaining gap and bring the handle firmly within reach.", + "After closing the gap, the knob and lever handle are now large and directly beside me, which is much nearer than when my earlier attempt failed to move the door. I will try the handle again from this tighter position, and the latch should release this time.", + "The doorway now stands open with the bathroom beyond clearly visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002482_y-001104_z000137_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002482_y-001104_z000137_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5eecfa8731d87191c0a4282ae9f490cfd005d42c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002482_y-001104_z000137_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Explore the area and walk to the street lamp in this yard.", + "Type": 1, + "Start_Pose": [ + -2481.501, + -1104.169, + 137.133, + -0.248, + -83.566, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2481.501, + -1104.169, + 137.133, + -0.248, + -83.566, + -0.0 + ], + [ + -2481.501, + -1104.169, + 137.133, + -0.248, + -108.566, + -0.0 + ], + [ + -2481.501, + -1104.169, + 137.133, + -0.248, + -133.566, + -0.0 + ], + [ + -2481.501, + -1104.169, + 137.133, + -0.248, + -158.566, + 0.0 + ], + [ + -2481.501, + -1104.169, + 137.133, + -0.248, + 176.434, + 0.0 + ], + [ + -2481.501, + -1104.169, + 137.133, + -0.248, + 176.434, + 0.0 + ], + [ + -2607.115, + -1096.341, + 136.616, + -0.248, + 176.434, + 0.0 + ], + [ + -2732.729, + -1088.513, + 136.099, + -0.248, + 176.434, + 0.0 + ], + [ + -2732.729, + -1088.513, + 136.099, + -0.248, + 176.434, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by the porch roof, siding and the red front door, so no street lamp is anywhere in sight from this heading. I will turn left to begin a consistent scan of the yard for the lamp.", + "The view still shows the porch decking, railing and the red door, with only the shaded garage wall opening up on the left edge. I will keep turning left in the same direction to swing my heading off the house and out toward the open yard.", + "Now the grass, a shrub, the paved driveway and the hedge line beyond are coming into view on the left, which is the open yard area where a street lamp would plausibly stand. I will continue the leftward scan to bring that open ground fully in front of me.", + "A tall dark vertical post rises out of the lawn on the left side of my view, and it looks like the shaft of a lamp rather than a tree trunk. I will turn left once more to bring that post toward the center of my heading.", + "The post is now centered ahead of me, but its top is cut off at the upper edge so I cannot yet see the fixture itself. I will look up to check whether a lamp head sits on this pole and confirm it is the street lamp.", + "Looking up confirms a lit lamp head on top of the centered pole, so this is the street lamp in the yard. It is still several strides away across the grass, so I will walk forward along this heading to close the distance.", + "The lamp post is thicker and closer now, standing right in the middle of my view with open grass and pavement in front of it. I will step forward again to bring myself right up to its base.", + "The street lamp's post stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002501_y001669_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002501_y001669_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c695284404d9affeae602115374d2c595a12f008 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002501_y001669_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the gray paneled side door on the right wall of the garage.", + "Type": 4, + "Start_Pose": [ + -2501.375, + 1668.702, + 168.15, + 0.0, + 3.913, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2501.375, + 1668.702, + 168.15, + 0.0, + 3.913, + 0.0 + ], + [ + -2375.809, + 1677.291, + 168.15, + 0.0, + 3.913, + -0.0 + ], + [ + -2250.244, + 1685.88, + 168.15, + 0.0, + 3.913, + -0.0 + ], + [ + -2250.244, + 1685.88, + 168.15, + 0.0, + 28.913, + -0.0 + ], + [ + -2250.244, + 1685.88, + 168.15, + 0.0, + 53.913, + -0.0 + ], + [ + -2176.111, + 1787.589, + 168.15, + 0.0, + 53.913, + -0.0 + ], + [ + -2106.786, + 1845.601, + 168.15, + 0.0, + 53.913, + -0.0 + ], + [ + -2106.786, + 1845.601, + 168.15, + 0.0, + 53.913, + -0.0 + ], + [ + -2037.626, + 1853.017, + 168.15, + 0.0, + 53.913, + -0.0 + ], + [ + -2037.626, + 1853.017, + 168.15, + 0.0, + 53.913, + -0.0 + ], + [ + -2037.626, + 1853.017, + 168.15, + 0.0, + 53.913, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the middle of the garage I can see the gray paneled door set into the right wall, still some distance ahead of me. I will move forward along the open concrete floor to close that gap before I worry about facing the door squarely.", + "The door on the right wall now appears larger and its handle side is coming into view, but I am still too far back to reach the handle. Another step forward should bring me roughly level with the doorway so a turn can point me at it.", + "I have advanced far enough that the gray paneled door has slipped to the far right edge of my view while I am still facing the back wall and workbench. Turning right should swing my heading toward the door instead of the rear corner.", + "The paneled door with its brass lever is now clearly in view but still sitting right of center, so my heading is not yet square to it. I will turn right again to bring the door and its handle into the middle of my view for a straight approach.", + "The gray paneled door is now centered ahead of me with the handle plainly visible, and the floor between us is clear. I will step forward to close the remaining distance so the handle comes within reach.", + "The gray paneled door fills the left half of my view with its brass lever and deadbolt clearly visible, but I am still standing off at an angle and slightly back from it. I will step forward again to close the remaining gap so the handle sits squarely in front of me for an interaction attempt.", + "The paneled door surface and its brass lever now fill my view, so I appear to be within reach of the handle. I will try to open the door from this position and expect the leaf to swing inward.", + "My attempt to work the lever left the door exactly as it was, still shut with the panels flat in front of me, so I was likely a little too far from the handle to engage it. I will edge forward to tighten that distance before trying the latch again.", + "I am now right up against the door frame, with the jamb and panel edge filling my view, which suggests I finally have the latch within reach after my earlier attempt failed to move it. I will try the handle again from this closer stance and hope the leaf releases.", + "I can see the door swung open with the lit hallway beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002510_y000317_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002510_y000317_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a76418f525e54770e1e7bf7e53b7d653abc75ff2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002510_y000317_z000098_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the second bollard light.", + "Type": 2, + "Start_Pose": [ + -2510.102, + 316.578, + 97.947, + -0.051, + 85.457, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2510.102, + 316.578, + 97.947, + -0.051, + 85.457, + 0.0 + ], + [ + -2500.133, + 442.042, + 102.292, + -0.051, + 85.457, + 0.0 + ], + [ + -2490.164, + 567.505, + 112.847, + -0.051, + 85.457, + 0.0 + ], + [ + -2490.164, + 567.505, + 112.847, + -0.051, + 60.457, + 0.0 + ], + [ + -2428.106, + 677.001, + 113.949, + -0.051, + 60.457, + 0.0 + ], + [ + -2366.048, + 786.496, + 116.002, + -0.051, + 60.457, + 0.0 + ], + [ + -2303.99, + 895.992, + 123.236, + -0.051, + 60.457, + 0.0 + ], + [ + -2303.99, + 895.992, + 123.236, + -0.051, + 35.457, + 0.0 + ], + [ + -2201.471, + 969.001, + 128.059, + -0.051, + 35.457, + 0.0 + ], + [ + -2120.236, + 1030.686, + 132.289, + -0.051, + 35.457, + 0.0 + ], + [ + -2120.236, + 1030.686, + 132.289, + -0.051, + 35.457, + 0.0 + ], + [ + -2120.236, + 1030.686, + 132.289, + -0.051, + 35.457, + 0.0 + ] + ], + "Rationale": [ + "From the foot of the driveway I see a line of short bollard lights edging the lawn on the left. They all look alike, so I fix my target now as the second one from the near end of that row, held by its place beside the porch. I walk forward to close the long gap.", + "The bollard I chose is still well up the driveway on my left, near the porch, and only slightly larger in my view. The open concrete ahead of me is clear, so another stride straight on should keep shrinking that distance.", + "I am still aimed squarely at the garage door, while the lights I want stand off to my left along the porch frontage. Turning left should swing my heading onto that side of the yard so my next steps carry me along the row rather than past it.", + "The turn brought the porch and the lights lining its lawn into the left half of my view, so my heading now points along the row instead of at the garage. Walking forward on the driveway should carry me toward the bollard I am following.", + "The posts along the lawn are noticeably taller in my view now, but I am still short of the one I picked near the porch. The paved surface ahead stays open, so I keep walking straight to close in.", + "I am nearly level with the front of the porch, and the lights on the grass sit just off my left shoulder. One more step forward should bring me alongside the bollard I am heading for before I turn in to it.", + "From this close the posts no longer read as a countable row, so I simply keep to the light I chose beside the porch, which lies to my left while I face along the driveway. Turning left should put it in front of me for a direct approach.", + "The turn has put the bollard light I am following ahead of me on the grass, with the porch railing just beyond it. Stepping forward off the pavement should bring me right up beside it.", + "The light I am heading for now stands close on my right, its post reaching well up my view, with the porch railing just behind it. The grass between us is clear of shrubs, so one more short stride should bring me level with its base.", + "At eye level I now see only porch railing and shrubs, since the post I came for has slipped below the bottom edge of my view. Tilting my gaze down should bring its cap back into sight and let me confirm I am standing right beside it.", + "The bollard light I have been following stands directly at my feet, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002511_y-001890_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002511_y-001890_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..512a55e28da00c5e513f93c428122e489d112fde --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002511_y-001890_z000169_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the right-hand white paneled door.", + "Type": 4, + "Start_Pose": [ + -2511.012, + -1890.09, + 168.793, + 0.0, + 161.699, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2511.012, + -1890.09, + 168.793, + 0.0, + 161.699, + 0.0 + ], + [ + -2511.012, + -1890.09, + 168.793, + 0.0, + -173.301, + 0.0 + ], + [ + -2636.012, + -1904.772, + 168.362, + 0.0, + -173.301, + 0.0 + ], + [ + -2761.011, + -1919.454, + 168.362, + 0.0, + -173.301, + 0.0 + ], + [ + -2886.011, + -1934.136, + 168.362, + 0.0, + -173.301, + 0.0 + ], + [ + -2886.011, + -1934.136, + 168.362, + 0.0, + -173.301, + 0.0 + ], + [ + -2903.001, + -1946.04, + 168.15, + 0.0, + -173.301, + 0.0 + ], + [ + -2903.001, + -1946.04, + 168.15, + 0.0, + -173.301, + 0.0 + ], + [ + -2903.001, + -1946.04, + 168.15, + 0.0, + -173.301, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the white paneled door sits on the far wall to my right, while the closet-style doors are on the wall to my left. I will turn right to bring that right-hand door toward the center of my view so I can head straight at it.", + "The target paneled door is now roughly ahead of me with clear open floor between us, and a desk and chair sit well off to the right of my path. I will move forward to close that distance toward the door.", + "The door frame and its brass knob are clearly larger in front of me now, but I am still several steps back from reaching distance. I will continue straight ahead to keep closing on the door.", + "The paneled door now fills most of my view with the knob at mid height slightly right of center, so I am nearly but not quite at interaction range. I will take one more step forward to get close enough to work the handle.", + "I am pressed close to the door with its raised panels filling my whole view, which means I am squarely in front of the target door. I will try to open it from this position and expect the door to swing if I am within reach of the latch.", + "My attempt to open this white paneled door just now left it shut, with the same panel surface still filling my view, so the handle was probably still out of reach. I will edge forward a little to close the remaining gap and put the latch within interaction range.", + "I am now pressed closer to the door, with its raised panels and the frame edge on my right filling the view, so the latch should be within reach after that short step. Since my earlier attempt at the previous standoff distance left the door closed, I will try the open interaction again from here.", + "The white paneled door now stands open, revealing the shelved storage room beyond its swung leaf and visible knob. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002536_y-000742_z000114_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002536_y-000742_z000114_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d932486c9d54b6bf9ad4fd7aed7773bdc205d481 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002536_y-000742_z000114_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Follow the straight walkway to the red front door on the covered porch and open it.", + "Type": 4, + "Start_Pose": [ + -2536.073, + -741.756, + 113.949, + 0.0, + -90.926, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2536.073, + -741.756, + 113.949, + 0.0, + -90.926, + 0.0 + ], + [ + -2538.253, + -867.592, + 121.516, + 0.0, + -90.926, + 0.0 + ], + [ + -2540.287, + -993.434, + 129.83, + 0.0, + -90.926, + 0.0 + ], + [ + -2542.321, + -1119.277, + 138.143, + 0.0, + -90.926, + 0.0 + ], + [ + -2544.355, + -1245.12, + 146.457, + 0.0, + -90.926, + 0.0 + ], + [ + -2546.389, + -1370.962, + 165.134, + 0.0, + -90.926, + 0.0 + ], + [ + -2548.265, + -1452.108, + 165.15, + 0.0, + -90.926, + 0.0 + ], + [ + -2548.265, + -1452.108, + 165.15, + 0.0, + -90.926, + 0.0 + ], + [ + -2548.265, + -1452.108, + 165.15, + 0.0, + -90.926, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red front door sits straight ahead at the end of the concrete walkway under the covered porch, already centered in my view. Since my heading is aligned with the walkway, I will move forward to close distance without any turning.", + "The porch columns and railing now fill more of my view, so the walkway remains clear and the red door is still dead ahead. I will keep moving forward along the same line to continue closing on the door.", + "I am close enough now that the porch decking and steps are visible just past the end of the walkway, with the red door directly in front of me. Another forward step should bring me onto the porch approach without needing any heading change.", + "The door now dominates my view between the porch posts and the deck boards extend right up to it. I will advance again to reach a position where the handle is within reach.", + "I am on the porch with the red door filling the view and its brass knob visible slightly right of center, but I am still a step short of contact range. Moving forward once more should place me squarely in front of the door for an interaction.", + "The door surface and its knob nearly fill my view, so I am almost at the threshold and centered on the panel. A short final step forward should put me flush against the door for the opening attempt.", + "I am pressed right up against the red door with nothing else between us, so I am within interaction range at the latch. I will attempt to open it now, which should swing the door inward.", + "The red door stands open with the interior hallway and rug in clear view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002538_y-002046_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002538_y-002046_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eb2522d87059dba52e22da5d4120eda66514df32 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002538_y-002046_z000169_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search the environment and go to the work desk.", + "Type": 1, + "Start_Pose": [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -61.364, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -61.364, + -0.0 + ], + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -86.364, + -0.0 + ], + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -111.364, + 0.0 + ], + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -136.364, + 0.0 + ], + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -161.364, + 0.0 + ], + [ + -2645.503, + -2085.238, + 168.15, + -0.051, + -161.364, + 0.0 + ], + [ + -2645.503, + -2085.469, + 168.15, + -0.051, + -161.364, + 0.0 + ], + [ + -2557.948, + -2055.942, + 168.776, + -0.051, + -161.364, + 0.0 + ], + [ + -2557.948, + -2055.942, + 168.776, + -0.051, + 173.636, + 0.0 + ], + [ + -2680.408, + -2037.073, + 168.15, + -0.051, + 173.636, + 0.0 + ], + [ + -2680.408, + -2037.073, + 168.15, + -0.051, + -161.364, + 0.0 + ], + [ + -2798.47, + -2061.048, + 168.15, + -0.051, + -161.364, + 0.0 + ], + [ + -2798.47, + -2061.048, + 168.15, + -0.051, + -136.364, + 0.0 + ], + [ + -2847.622, + -2079.637, + 168.15, + -0.051, + -136.364, + 0.0 + ], + [ + -2847.622, + -2079.637, + 168.15, + -0.051, + -136.364, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a hallway with a tall dresser cabinet, a padded bench, and framed pictures, so no work desk is in view. I will turn left to begin a steady scan in one consistent direction for a study or office area.", + "The tall cabinet now fills most of my view, with only a sconce, a plant, and a side table edging in at the left, and still nothing resembling a work desk. I will keep turning left in the same direction to sweep past this cabinet and reveal the space beyond it.", + "On the left side of my view I can now make out a built-in work surface with a shelf hutch and books, which is a strong cue for the work desk area. I will continue turning left to bring that alcove into the center of my view and confirm it.", + "I can clearly see the desk with its hutch, books, and a rolling office chair, but a half wall and the console table with the plant sit between me and it. I will turn left once more to face the open floor of that room so I have a clear walking route toward the desk.", + "The room is now open in front of me, with clear wood flooring leading in and the desk, chair, and shelf unit ahead on the right. I will walk forward to close the distance to that work desk.", + "The work desk with its hutch and office chair is clearly in front of me, slightly right, so this room is the target area and I no longer need to scan. I will step forward again to close the remaining gap to the desk edge. The low partition at the bottom right of my view may narrow the path, but the route straight ahead still looks open.", + "My last forward step barely changed anything, the desk and chair sit at almost exactly the same size and angle, so something right in front of me is blocking further advance. I will back up to open some clearance so I can reorient and look for a way around the obstruction rather than pushing into it. The desk stays in sight ahead, so I am not giving up on this target.", + "With some distance regained I can now see that a railing and side table on my right form the barrier that stopped my approach, while the desk sits beyond it to the left. Turning left should point me at the open floor near the pale door, which looks like a passable way into the desk alcove. I will turn left to line up with that clearer route.", + "From this heading the floor ahead is completely clear, with the interior door in front of me and the desk and office chair now off to my right beyond the low cabinet. Walking forward here should carry me past the partition that stalled me earlier and into the open part of the room next to the desk. I will step forward along this unobstructed line.", + "I have advanced into the open floor and the door is now directly ahead, while the work desk with its cabinet and chair has slipped to the right edge of my view. Turning right should bring the desk back into the center of my view so I can approach it head on. I will turn right to face the target.", + "The work desk with its office chair and shelf hutch is now clearly in front of me on the right side of the room, with open floor between us. I will walk forward along this heading to close the remaining distance to the desk rather than spend more steps scanning.", + "I am now very close to the desk, but my heading has drifted onto the blank wall and only the desk's near corner with the small dish shows at the lower right. Turning right should bring the desk top and chair back into the center of my view for a controlled final approach.", + "The turn brought the desk squarely into view, with its surface, the office chair and the shelving above now centered ahead of me. I will take a short step forward to stand right at the desk edge.", + "I am standing right at the work desk, its top surface, chair and shelving filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002538_y-002046_z000169_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002538_y-002046_z000169_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..41ca1697d2971557e557d868555f932014a1c761 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002538_y-002046_z000169_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the picture frame that is furthest away from you on the wall.", + "Type": 2, + "Start_Pose": [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -61.364, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -61.364, + -0.0 + ], + [ + -2537.949, + -2045.572, + 168.78, + -0.051, + -36.364, + 0.0 + ], + [ + -2451.179, + -2120.697, + 168.15, + -0.051, + -36.364, + 0.0 + ], + [ + -2363.733, + -2198.904, + 168.793, + -0.051, + -36.364, + 0.0 + ], + [ + -2363.733, + -2198.904, + 168.793, + -0.051, + -11.364, + 0.0 + ], + [ + -2240.682, + -2214.163, + 168.793, + -0.051, + -11.364, + 0.0 + ], + [ + -2240.682, + -2214.163, + 168.793, + -0.051, + -11.364, + 0.0 + ], + [ + -2240.682, + -2214.163, + 168.793, + -0.051, + -11.364, + 0.0 + ] + ], + "Rationale": [ + "Two frames hang along this hallway: a dark ship photograph close on the wall ahead, and beyond it a pale wide panel of white flowers set much deeper down the corridor, so that flower panel is my target. It sits to my right, past the wall projection, so I will turn right to put the corridor running toward it in front of me.", + "The corridor now opens ahead with the pale floral panel visible well down the right-hand stretch, past the bench and the sconce. Nothing blocks the carpeted floor between us, so I will walk forward to close that distance.", + "The floral panel is noticeably larger now on the left-hand wall, though another small frame has appeared further along near the far sconce; the flowered panel is still the one I am heading to. The passage stays clear, so I will keep walking forward.", + "My heading has drifted toward the near wall, and the flowered panel is crowded against the left edge with the corridor itself angling off to my right. I will turn right to square up with the passage so I can continue straight along it toward that panel.", + "The corridor now runs straight ahead with the flowered panel on the left wall a short way in front of me. The floor is clear, so I will step forward to bring myself alongside it.", + "I am beside the flowered panel, but it is mounted high and only its lower edge fits in my view, cut off at the top. I will look up to bring the whole frame into sight and confirm I am standing at it.", + "The flowered panel fills the wall directly beside me, fully in view at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002543_y-002180_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002543_y-002180_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e14e8f83e94d4c81217dde04295420ce619a3f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002543_y-002180_z000169_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Follow the striped runner to the red grid-window door at the end of the hallway and open it.", + "Type": 4, + "Start_Pose": [ + -2542.564, + -2180.138, + 168.793, + 0.0, + 70.288, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2542.564, + -2180.138, + 168.793, + 0.0, + 70.288, + -0.0 + ], + [ + -2500.113, + -2061.654, + 168.409, + 0.0, + 70.288, + -0.0 + ], + [ + -2500.113, + -2061.654, + 168.409, + 0.0, + 95.288, + -0.0 + ], + [ + -2514.372, + -1937.373, + 168.793, + 0.0, + 95.288, + -0.0 + ], + [ + -2525.971, + -1812.05, + 168.793, + 0.0, + 95.288, + -0.0 + ], + [ + -2537.571, + -1686.726, + 168.793, + 0.0, + 95.288, + -0.0 + ], + [ + -2549.17, + -1561.403, + 168.199, + 0.0, + 95.288, + -0.0 + ], + [ + -2549.17, + -1561.403, + 168.15, + 0.0, + 95.288, + -0.0 + ], + [ + -2549.17, + -1561.403, + 168.15, + 0.0, + 95.288, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner stretches straight ahead down the hallway and ends at the red door with the grid window, which is my target. Nothing blocks the carpeted path, so I will step forward along the runner to close distance on that door.", + "From here the tall white cabinetry on my left crowds the corridor and the red door now sits well to the right of my heading, with the runner also drifting right. A small turn to the right should recenter both the runner and the door so I can continue straight toward it.", + "The red grid-window door is now near the center of my view with the striped runner running straight to it. The corridor ahead is open, so I will advance along the runner to keep closing on the door.", + "The door has grown larger and stays framed between the hallway walls, confirming my heading is still good. I will keep moving forward, since I am not yet close enough to reach the handle.", + "The red door now fills much of the view and its panel and window details are clear, but the threshold is still a step or two away. I will move forward again to bring myself within arm's reach of the door.", + "I am nearly at the door, with its handle visible on the left side of the red slab and the frame filling my view. One more short step should place me directly in front of it so the handle is within interaction range.", + "I am pressed right up against the red door, seeing only its glass panes and white muntins with the red slab below, so the handle is within reach. I will attempt to open it now, which should swing the door and reveal what lies beyond.", + "The red door stands open, showing the porch and street beyond through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002546_y002076_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002546_y002076_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3971962b51e878227160aeb615847c0294129b47 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002546_y002076_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door immediately to the left of the small bedroom dresser.", + "Type": 4, + "Start_Pose": [ + -2545.718, + 2076.201, + 168.15, + 0.0, + 57.15, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2545.718, + 2076.201, + 168.15, + 0.0, + 57.15, + 0.0 + ], + [ + -2476.444, + 2108.565, + 168.15, + 0.0, + 57.15, + -0.0 + ], + [ + -2408.172, + 2214.299, + 168.15, + 0.0, + 57.15, + -0.0 + ], + [ + -2408.172, + 2214.299, + 168.15, + 0.0, + 32.15, + -0.0 + ], + [ + -2408.172, + 2214.299, + 168.15, + 0.0, + 7.15, + -0.0 + ], + [ + -2283.292, + 2229.964, + 168.15, + 0.0, + 7.15, + -0.0 + ], + [ + -2283.292, + 2229.964, + 168.15, + 0.0, + 7.15, + -0.0 + ], + [ + -2251.621, + 2243.576, + 168.15, + 0.0, + 7.15, + -0.0 + ], + [ + -2251.621, + 2243.576, + 168.15, + 0.0, + 7.15, + -0.0 + ], + [ + -2251.621, + 2243.576, + 168.15, + 0.0, + 7.15, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits on the far wall just left of the small bedroom dresser, but it is still several steps away across the carpet. I will move forward to close that gap so the door and its handle come within reach.", + "The door has grown larger on the left side of my view and the dresser beside it is now clearly in the foreground, so I am still short of interaction range. I will advance again to bring myself close to the door panel.", + "After moving in, the dresser and its potted plant fill the center of my view while the target door is pushed to the extreme left edge and mostly cut off. I will turn left to bring the door back into the middle of my view where I can line up on its handle.", + "The door frame and its lever handle are now visible, but they still sit toward the left side with the dresser crowding the right of my view. Another left turn should square my heading with the door face before I try the handle.", + "The paneled door is now centered in front of me with its handle plainly in view, but I am still standing back a step from the panel. I will move forward to get within reach of the handle so an opening attempt can register.", + "The white paneled door beside the bedroom dresser now fills my view, with its brass lever and deadbolt clearly on the left edge of the leaf. I am squared up on the panel, so I will try the open action here and the door should swing inward.", + "My interaction attempt just now left the door unchanged, since the panel and lever still sit closed in front of me exactly as before. I suspect I am still slightly short of contact range, so I will step forward to tighten the gap to the handle before trying again.", + "After closing the last bit of distance, the door surface is right against me and its recessed panels fill the whole view, so I am clearly within reach of the latch. My earlier attempt from farther back did nothing, so I will trigger the open action again from this tighter position.", + "The paneled door now stands swung open, revealing the hallway and rooms beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002550_y-001951_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002550_y-001951_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..197e6885f09344b8e8f9214e3ac070800c805609 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002550_y-001951_z000169_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Look around the area and go to the work desk.", + "Type": 1, + "Start_Pose": [ + -2549.636, + -1951.287, + 168.793, + -0.051, + 127.173, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2549.636, + -1951.287, + 168.793, + -0.051, + 127.173, + -0.0 + ], + [ + -2549.636, + -1951.287, + 168.793, + -0.051, + 152.173, + -0.0 + ], + [ + -2549.636, + -1951.287, + 168.793, + -0.051, + 177.173, + -0.0 + ], + [ + -2549.636, + -1951.287, + 168.793, + -0.051, + -157.827, + -0.0 + ], + [ + -2666.187, + -1998.787, + 168.15, + -0.051, + -157.827, + -0.0 + ], + [ + -2782.739, + -2046.286, + 168.15, + -0.051, + -157.827, + -0.0 + ], + [ + -2872.119, + -2062.577, + 168.15, + -0.051, + -157.827, + -0.0 + ], + [ + -2872.119, + -2062.577, + 168.15, + -0.051, + -132.827, + 0.0 + ], + [ + -2872.119, + -2062.577, + 168.15, + -0.051, + -132.827, + 0.0 + ] + ], + "Rationale": [ + "From this entry hallway I can only see a red exterior door to my left and a closed white interior door ahead, with no work desk anywhere in view. I will turn right to begin a consistent scan of the surrounding area for the desk.", + "This new heading reveals another stretch of empty floor with two plain closed doors and bare walls, still no sign of a work desk. I will keep rotating right in the same direction to extend the scan into the unseen part of the room.", + "At the right edge of my view I can now make out a light desk top with an office chair beside it and a framed picture above, which looks like the work desk area. I will turn right once more to bring that furniture toward the center of my view before advancing.", + "The work desk is now clearly in front of me on the right, with its office chair, drawer unit, and shelf hutch holding books and a plant. I will walk forward to close the distance to that desk.", + "The desk, chair, and its shelf unit are noticeably larger and closer now, confirming I am heading the right way. I will continue forward to get within arm's reach of the desk.", + "I am nearly at the desk, its top surface with a small dish sits just to my right and the wall with the light switch is close ahead. One more short step forward should place me right at the desk position.", + "I have moved in so close that the blank wall corner now fills my view and the desk has slipped out of sight to my right. I will turn right to face the desk surface again and confirm I am standing at it.", + "The work desk top with its pen holder and overhead cabinet is directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002560_y-001924_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002560_y-001924_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..067cdefe7d97b3b34e7034c17d72e4de0a1cbc06 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002560_y-001924_z000169_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door to the left of the computer desk.", + "Type": 4, + "Start_Pose": [ + -2560.47, + -1923.948, + 168.793, + 0.0, + -157.251, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2560.47, + -1923.948, + 168.793, + 0.0, + -157.251, + 0.0 + ], + [ + -2676.538, + -1972.617, + 168.274, + 0.0, + -157.251, + 0.0 + ], + [ + -2676.538, + -1972.617, + 168.274, + 0.0, + 177.749, + -0.0 + ], + [ + -2802.3, + -1967.674, + 168.274, + 0.0, + 177.749, + -0.0 + ], + [ + -2902.85, + -1962.798, + 168.15, + 0.0, + 177.749, + -0.0 + ], + [ + -2902.85, + -1962.798, + 168.15, + 0.0, + 177.749, + -0.0 + ], + [ + -2902.85, + -1962.798, + 168.15, + 0.0, + 177.749, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits on the wall to the left of the computer desk, clearly visible but still several steps away across the open floor. I will move forward to close that distance before working on my alignment with the handle.", + "After closing some distance, the paneled door now sits well off to the left edge of my view while the desk and chair dominate the center. I will turn left so the door is centered ahead of me and I can walk straight into it.", + "The door is now framed squarely ahead with its brass handle near the middle of my view. I will move forward along this heading to get within reach of the handle.", + "The door fills most of my view and the brass lever is slightly right of center, but I still seem a little short of contact range. One more short step forward should put the handle firmly within reach.", + "I am pressed right up against the paneled door surface, with the frame edge just at my left, so the latch should be directly in front of me. I will try the opening interaction on this door now.", + "The paneled door now stands swung open, revealing the storage room and shelving beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002565_y-001748_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002565_y-001748_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e9a45e8828998869d61ecc7d864057e89c3a977 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002565_y-001748_z000169_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "First, go to the bench near the tall cabinet. Then, go to the office chair by the desk.", + "Type": 3, + "Start_Pose": [ + -2564.812, + -1747.54, + 168.604, + -0.051, + -107.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2564.812, + -1747.54, + 168.604, + -0.051, + -107.92, + -0.0 + ], + [ + -2564.812, + -1747.54, + 168.604, + -0.051, + -82.92, + -0.0 + ], + [ + -2549.299, + -1872.439, + 168.604, + -0.051, + -82.92, + -0.0 + ], + [ + -2533.786, + -1997.339, + 168.604, + -0.051, + -82.92, + -0.0 + ], + [ + -2518.274, + -2122.238, + 168.166, + -0.051, + -82.92, + -0.0 + ], + [ + -2518.274, + -2122.238, + 168.166, + -0.051, + -82.92, + -0.0 + ], + [ + -2529.663, + -2030.542, + 168.706, + -0.051, + -82.92, + -0.0 + ], + [ + -2541.051, + -1938.847, + 168.706, + -0.051, + -82.92, + -0.0 + ], + [ + -2541.051, + -1938.847, + 168.706, + -0.051, + -107.92, + -0.0 + ], + [ + -2541.051, + -1938.847, + 168.706, + -0.051, + -132.92, + -0.0 + ], + [ + -2626.758, + -2031.014, + 168.331, + -0.051, + -132.92, + -0.0 + ], + [ + -2645.526, + -2085.264, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2645.526, + -2085.455, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2582.604, + -2017.79, + 168.787, + -0.051, + -132.92, + -0.0 + ], + [ + -2582.604, + -2017.79, + 168.787, + -0.051, + -157.92, + -0.0 + ], + [ + -2675.641, + -2038.358, + 168.15, + -0.051, + -157.92, + -0.0 + ], + [ + -2675.641, + -2038.358, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2752.123, + -2056.507, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2793.55, + -2103.576, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2793.55, + -2103.576, + 168.15, + -0.051, + -132.92, + -0.0 + ] + ], + "Rationale": [ + "The tall white cabinet with its stack of drawers stands off to my right, with the padded bench sitting against the wall beside it. My body currently faces the open floor, so I will turn right to put that cabinet and bench squarely ahead before walking over.", + "The tall cabinet now sits near the center of my view with the bench just to its right, so my heading is good. The floor between us is clear rug and boards, so I will walk forward to close that distance.", + "The cabinet and the bench beside it have grown noticeably larger, confirming I am closing on them. Still several paces of open floor remain, so I will keep walking straight toward that corner.", + "The cabinet now fills much of my view and the bench sits clearly at its right, but I am still standing off the edge of the rug. One more step forward should bring me right up beside the bench.", + "The cushioned bench is right at my side, close enough to touch, with the tall drawered cabinet looming directly in front of me. I have reached the bench beside that cabinet. I mark arriving here before setting off for the office chair at the desk across the room.", + "Standing this close, the cabinet drawers fill nearly my whole view and only a sliver of the bench cushion shows at the right. Having reached the bench beside the tall cabinet, I now need the office chair at the desk, so I will step back to open up the room and gain space to turn.", + "The cabinet and bench are now fully in frame, but I am still tight against this wall with the side table crowding my left. Another step back should give me enough clearance to swing around toward the office area without scraping the furniture.", + "I have backed off far enough that the cabinet, bench and the plant table sit comfortably in view, so I have room to reorient. The desk and its chair lie off past the left edge of what I can see, so I will turn left to bring that side of the room into view.", + "The turn has brought the desk nook into sight, with the office chair tucked at the far left behind the low partition. It sits too far to the side for a straight approach, so I will turn left again to place the chair nearer the center of my heading.", + "The desk with its hutch and the office chair now sit ahead of me, just left of straight on, with clear floor between us. I will walk forward to close that gap toward the chair.", + "The padded office chair at the corner desk is now clearly ahead on my left, with a low partition wall running along my right side. I am still several paces short of it, so I will keep walking forward down this narrow lane to close the gap.", + "The chair and desk have grown larger and sit just off my left shoulder, though the last step carried me less far than usual as the lane between the partition and the wall narrows. I will attempt another step forward to draw level with the chair.", + "My last step forward gained essentially nothing, the scene ahead is unchanged, so something at the end of this narrow lane is holding me in place. I will back up a step to open clearance so I can look for a way around toward the chair.", + "Backing up has given me room, and the straight line I was on toward the chair proved blocked at the partition. Turning left should swing me toward the open floor on that side, which looks like a passable route around to the desk.", + "From this heading the floor ahead is open past the door, with the office chair and its desk now off to my right rather than behind the partition. I will walk forward along this clear stretch to get abreast of the chair.", + "The office chair at the corner desk now sits right of my heading, with the door and blank wall filling the left of my view. I will turn right so the chair moves toward the centre of my view and I can walk straight at it.", + "The office chair is now centred in front of me with the desk behind it and clear floor between us. I will step forward to close that gap.", + "The chair and desk fill much more of my view now, but I am still a stride or so short of standing beside it. I will take one more step forward to reach it.", + "The office chair is directly in front of me at arm's length against the desk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002568_y-001759_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002568_y-001759_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4cc011c506c62127032837c6450255253784271a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002568_y-001759_z000169_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the smaller desk near the tall cabinet.", + "Type": 0, + "Start_Pose": [ + -2568.378, + -1758.568, + 168.604, + -0.051, + -107.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2568.378, + -1758.568, + 168.604, + -0.051, + -107.92, + -0.0 + ], + [ + -2607.103, + -1878.321, + 168.168, + -0.051, + -107.92, + -0.0 + ], + [ + -2645.829, + -1998.074, + 168.168, + -0.051, + -107.92, + -0.0 + ], + [ + -2645.829, + -1998.074, + 168.168, + -0.051, + -82.92, + -0.0 + ], + [ + -2623.128, + -2091.65, + 168.168, + -0.051, + -82.92, + -0.0 + ], + [ + -2623.128, + -2091.65, + 168.168, + -0.051, + -82.92, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the tall white cabinet against the far wall, and the small side table holding a potted plant and a framed picture stands just to its left, which matches the smaller desk described in the task. It is still well across the room, so I will move forward along my current heading to close that distance.", + "The cabinet and the small plant-topped table beside it now fill more of my view, confirming I am heading the right way, but the table is still several steps away and sits past the low partition rail. I will continue straight ahead to keep closing the gap before adjusting my heading.", + "I am now close enough that the small table with the plant and framed picture sits toward the right side of my view, with the tall cabinet even further right and my heading pointed more at the office desk and chair on the left. A modest turn to the right should center the smaller desk and the adjacent cabinet so my final approach runs straight at them.", + "The tall cabinet and the smaller desk with its plant and framed picture are now both centered in front of me, so my heading is correct. One more step forward should bring me right up beside that desk.", + "The smaller desk with its potted plant is right beside me at arm's reach, directly next to the tall cabinet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002569_y-001553_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002569_y-001553_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bebf2cee9c14193591169d388550b8b1d051fd79 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002569_y-001553_z000168_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the wall lamp.", + "Type": 0, + "Start_Pose": [ + -2569.341, + -1552.879, + 168.15, + -0.051, + -88.61, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2569.341, + -1552.879, + 168.15, + -0.051, + -88.61, + -0.0 + ], + [ + -2566.288, + -1678.701, + 168.747, + -0.051, + -88.61, + 0.0 + ], + [ + -2563.235, + -1804.523, + 168.747, + -0.051, + -88.61, + 0.0 + ], + [ + -2560.182, + -1930.345, + 168.747, + -0.051, + -88.61, + 0.0 + ], + [ + -2557.129, + -2056.167, + 168.747, + -0.051, + -88.61, + 0.0 + ], + [ + -2557.129, + -2056.167, + 168.747, + -0.051, + -113.61, + 0.0 + ], + [ + -2602.948, + -2171.362, + 168.672, + -0.051, + -113.61, + 0.0 + ], + [ + -2603.011, + -2181.753, + 168.672, + -0.051, + -113.61, + 0.0 + ], + [ + -2603.011, + -2181.753, + 168.672, + -0.051, + -113.61, + 0.0 + ], + [ + -2603.011, + -2181.753, + 168.672, + -0.051, + -113.61, + 0.0 + ] + ], + "Rationale": [ + "From the near end of this hallway I can see a small lit wall lamp glowing on the far wall, just left of the tall white cabinet. The runner rug leads straight ahead with no obstruction, so I will step forward to begin closing that distance.", + "The lit sconce beside the cabinet has grown slightly larger and stays near the center of my view, confirming my heading is pointed at it. The corridor past the wardrobe on my right remains open, so I will keep advancing.", + "I have entered the more open room and the wall lamp beside the cabinet is clearly resolved ahead of me, slightly left of center. Nothing blocks the floor in front, so another forward step should bring me meaningfully closer.", + "The cabinet and the sconce on the wall to its left now fill much of my view, so I am within a few steps of the target wall. I will move forward again to shorten the remaining gap before fine tuning my heading.", + "The tall cabinet now dominates the center of my view while the lit wall lamp has drifted to the upper left. I will turn left to bring the lamp toward the middle of my heading so my remaining steps go straight to it rather than into the cabinet.", + "After the turn the lit lamp sits ahead of me on the open wall strip, with the cabinet now edged off to my right. The floor between the side table and the cabinet looks clear, so I will step forward toward the lamp.", + "I am now very close to the lamp's wall, with only its base rim showing at the top of my view above the plain plaster. I will take one more short step to settle at a comfortable standing distance under the fixture.", + "Standing this close, the wall lamp is mounted above my current line of sight and only blank wall and the framed map are in view. I will raise my gaze to bring the fixture itself into view and confirm I have reached it.", + "The lit wall lamp fills the center of my view at arm's length on the wall above me. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002576_y-002143_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002576_y-002143_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d83a5d7e57f2ef5f9ccaa6372d70b8ba004cb28e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002576_y-002143_z000169_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white paneled door on the right side of the hallway.", + "Type": 4, + "Start_Pose": [ + -2576.033, + -2143.206, + 168.73, + 0.0, + 99.668, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2576.033, + -2143.206, + 168.73, + 0.0, + 99.668, + -0.0 + ], + [ + -2576.033, + -2143.206, + 168.73, + 0.0, + 124.668, + -0.0 + ], + [ + -2647.624, + -2039.692, + 168.289, + 0.0, + 124.668, + -0.0 + ], + [ + -2719.215, + -1936.178, + 168.289, + 0.0, + 124.668, + -0.0 + ], + [ + -2719.215, + -1936.178, + 168.289, + 0.0, + 99.668, + -0.0 + ], + [ + -2738.921, + -1846.996, + 168.15, + 0.0, + 99.668, + -0.0 + ], + [ + -2738.921, + -1846.996, + 168.15, + 0.0, + 99.668, + -0.0 + ], + [ + -2738.921, + -1846.996, + 168.15, + 0.0, + 99.668, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this spot in the hallway I can see a white paneled door set into the wall on my right, while the red glazed door lies straight ahead and is not my target. I will turn right so that the white door and its adjoining wall come into the center of my view for a direct approach.", + "Now facing into the right-hand side of the hallway, I can see white paneled doors ahead of me, but they are still several steps away. I will move forward to close that distance before worrying about precise alignment.", + "The paneled door and its brass knob are much larger in view now, but I am still outside comfortable reach of the handle. I will advance again to bring myself close enough to interact with the door.", + "At this range the door has drifted to the left half of my view, with only bare wall and the corner filling the right side. I will turn left to square up on the door face and center its knob before reaching for it.", + "The white paneled door is now centered in front of me with its brass lever visible, but there is still a small gap between me and the door face. I will step forward once more so the handle is within interaction range.", + "The paneled surface of the white door now fills my view, so I am directly against it and squared to its face. I will attempt to open it, which should swing the door clear and reveal the room beyond.", + "The door now stands open with the bathroom beyond it in plain view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002581_y001992_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002581_y001992_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05cf4d7485e5db5720f72963b8450dbfcbc99566 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002581_y001992_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled door to the right of the computer desk.", + "Type": 4, + "Start_Pose": [ + -2580.613, + 1992.268, + 168.15, + 0.0, + 6.366, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2580.613, + 1992.268, + 168.15, + 0.0, + 6.366, + 0.0 + ], + [ + -2580.613, + 1992.268, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2473.147, + 2057.778, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2365.681, + 2123.288, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2258.215, + 2188.798, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2258.215, + 2188.798, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2251.609, + 2247.212, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2251.609, + 2247.212, + 168.15, + 0.0, + 31.366, + -0.0 + ], + [ + -2251.609, + 2247.212, + 168.15, + 0.0, + 31.366, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits well to the right of the computer desk near the edge of my view, so my current heading points too far toward the desk and wall art. I will turn right to bring that door closer to the center of my path before approaching it.", + "The white paneled door is now roughly ahead of me with clear carpet between us and no furniture in the way. I will move forward to close the distance toward its handle.", + "The door frame and its brass lever are larger now but still several steps away, too far to reach the handle. I will continue straight ahead since the route in front of me stays clear.", + "I am close to the door now, with the lever handle visible slightly left of my center and the wall switch beside it. One more step forward should put me within arm's reach of the handle.", + "I am directly against the door with the brass lever and keyhole filling my view, which should be close enough to operate the latch. I will attempt to open it and watch whether the panel actually swings.", + "My attempt to work the lever just now left the white paneled door still shut in front of me, so my reach was probably not close enough to engage the latch. The handle and panels fill my view straight ahead with no obstruction between us, so I will edge forward a little to tighten that gap. A closer stance should put the lever within proper interaction range.", + "I am now pressed close against the paneled door, with its panel molding and the jamb seam filling my view, so I am within arm's reach of the latch. The earlier attempt from farther back left the door closed, and this tighter stance should make the interaction register. I will try the door again from here.", + "I see the white paneled door swung inward, revealing the hallway and room beyond. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002656_y-001852_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002656_y-001852_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ff49f1f8cbe605741127a18c5de09f12641342 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002656_y-001852_z000168_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the plant that sits on the higher shelf of the work desk.", + "Type": 0, + "Start_Pose": [ + -2655.658, + -1852.285, + 168.15, + -0.051, + -130.564, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2655.658, + -1852.285, + 168.15, + -0.051, + -130.564, + 0.0 + ], + [ + -2737.504, + -1947.898, + 168.15, + -0.051, + -130.564, + -0.0 + ], + [ + -2737.504, + -1947.898, + 168.15, + -0.051, + -105.564, + -0.0 + ], + [ + -2737.504, + -1947.898, + 168.15, + -0.051, + -80.564, + 0.0 + ], + [ + -2724.735, + -2038.466, + 168.15, + -0.051, + -80.564, + 0.0 + ], + [ + -2752.24, + -2065.135, + 168.15, + -0.051, + -80.564, + 0.0 + ], + [ + -2754.448, + -2187.137, + 168.15, + -0.051, + -80.564, + 0.0 + ], + [ + -2754.448, + -2187.137, + 168.15, + -0.051, + -105.564, + -0.0 + ], + [ + -2754.448, + -2187.137, + 168.15, + -0.051, + -130.564, + -0.0 + ], + [ + -2754.448, + -2187.137, + 168.15, + -0.051, + -130.564, + -0.0 + ], + [ + -2754.448, + -2187.137, + 168.15, + -0.051, + -130.564, + -0.0 + ] + ], + "Rationale": [ + "From the doorway area I can see the work desk tucked into the far corner, and a small potted plant sits on the raised hutch shelf above its writing surface. That plant is the target but it is several meters away, so I will move forward across the open floor to close distance and get a clearer look at the upper shelf.", + "The desk and its hutch now fill the middle right of my view, with the leafy plant sitting on the shelf above the cabinet doors, so my heading is slightly off to the left of it. I will turn right to bring the hutch and its plant closer to the center of my view before advancing further.", + "The plant on the hutch is now roughly centered, but the desk chair and desk surface sit directly in the straight line ahead, so a head-on push would put me against the furniture rather than beside the shelf. I will turn right again to face the open floor lane along the right side of the room, which should let me travel in and approach the hutch from its side.", + "I am now facing down the open lane, with the desk hutch and its potted plant on my left and a low divider and dresser ahead on the right. I will move forward along this clear floor to draw level with the corner desk.", + "The hutch on my left has grown noticeably larger and its potted plant is close to the upper left corner of my view, so I am nearly beside the desk. I will take another step forward to finish closing the remaining gap along this lane.", + "I am now right alongside the desk unit, with the hutch shelf and its plant at the left edge of my view and the divider rail on my right. I will move forward once more to reach a position directly beside the hutch, from which I can turn and face the shelf at close range.", + "My forward heading now shows only the near wall and the top of the divider rail, which means the desk hutch has passed out of view to my left. I will turn left to swing my view back toward the desk and its raised shelf.", + "The white cabinet of the desk hutch has come into the left portion of my view, so I am partly turned toward it but not yet squared up. I will turn left again to place the hutch and its upper shelf in the center of my view at this close range.", + "I am now standing right at the work desk's hutch, with its shelf of books and upper cabinet filling my view, but the top surface where the plant sits is above my current line of sight. Tilting my gaze upward should bring that higher shelf and the potted plant into the center of my view to confirm I am at the right target.", + "The potted plant on the hutch's higher shelf is directly in front of me, close and clearly centered. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002662_y-001852_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002662_y-001852_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9da4d126e5ef49213f9208b31cb4f10849f0393 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002662_y-001852_z000168_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the tall cabinet against the wall.", + "Type": 0, + "Start_Pose": [ + -2661.775, + -1852.201, + 168.15, + -0.051, + -61.364, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2661.775, + -1852.201, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2601.458, + -1962.665, + 168.465, + -0.051, + -61.364, + -0.0 + ], + [ + -2541.141, + -2073.129, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2541.141, + -2073.129, + 168.15, + -0.051, + -86.364, + -0.0 + ], + [ + -2533.269, + -2180.028, + 168.793, + -0.051, + -86.364, + -0.0 + ], + [ + -2533.269, + -2180.028, + 168.793, + -0.051, + -86.364, + -0.0 + ] + ], + "Rationale": [ + "The tall white cabinet with paneled doors and drawers stands against the far wall just left of my center view, so the target is already localized. My heading is close enough to it that I will move forward along the hallway to close the sizable gap.", + "The cabinet now fills much more of my view, confirming that the previous forward step reduced the distance. It still sits a few steps away against the wall, so I will continue straight ahead to keep closing in.", + "Having come close, the cabinet has drifted to the left edge of my view while the bench and wall art occupy the center. I will turn left to bring the cabinet back to the middle of my heading before advancing the last bit.", + "The cabinet is now squarely centered, its doors and drawer knobs filling my view straight ahead. A short forward step should place me directly in front of it at arm's reach.", + "The cabinet's paneled door and drawer knob fill my view at arm's length. The task is complete, so I stop here at the target." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002662_y-001852_z000168_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002662_y-001852_z000168_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3563464b87fd32e22de5e94eda0b1a687976aa66 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002662_y-001852_z000168_t0_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the bench against the wall.", + "Type": 0, + "Start_Pose": [ + -2661.775, + -1852.201, + 168.15, + -0.051, + -61.364, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2661.775, + -1852.201, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2601.458, + -1962.665, + 168.465, + -0.051, + -61.364, + -0.0 + ], + [ + -2541.141, + -2073.129, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2480.661, + -2181.452, + 168.793, + -0.051, + -61.364, + -0.0 + ], + [ + -2480.661, + -2181.452, + 168.793, + -0.051, + -61.364, + -0.0 + ], + [ + -2480.661, + -2181.452, + 168.793, + -0.051, + -61.364, + -0.0 + ] + ], + "Rationale": [ + "I can see the low upholstered bench sitting flat against the wall in the alcove beyond the tall white cabinet, slightly right of my heading. It is still several steps away across the hallway, so I will move forward to begin closing that gap without changing my heading.", + "The bench against the wall now appears larger and lower in my view, confirming I am tracking straight toward it. There is still clear floor and rug between me and the alcove, so I will keep advancing on this same heading.", + "The bench is now clearly in front of me with the framed picture on the wall directly above it, and the cabinet has slid off to my left edge. A short remaining gap separates me from the bench, so I will step forward once more to stand right at it.", + "I am close enough that my forward gaze mostly shows blank wall and the framed picture, with only the bench's top edge intruding at the bottom of my view. I will tilt my view down to bring the bench and the floor at its base fully into sight and confirm I am standing at it.", + "The bench against the wall is directly below me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002677_y000294_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002677_y000294_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3b6f48e47e93714dca98c88278295298fbedb935 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002677_y000294_z000098_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the trash bin first, then move to the garage doorway.", + "Type": 3, + "Start_Pose": [ + -2676.662, + 294.225, + 98.15, + -0.051, + 28.303, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2676.662, + 294.225, + 98.15, + -0.051, + 28.303, + 0.0 + ], + [ + -2565.849, + 353.899, + 98.15, + -0.051, + 28.303, + -0.0 + ], + [ + -2455.036, + 413.573, + 99.724, + -0.051, + 28.303, + -0.0 + ], + [ + -2455.036, + 413.573, + 99.724, + -0.051, + 3.303, + -0.0 + ], + [ + -2329.387, + 420.825, + 100.382, + -0.051, + 3.303, + -0.0 + ], + [ + -2203.737, + 428.076, + 101.041, + -0.051, + 3.303, + -0.0 + ], + [ + -2078.087, + 435.328, + 101.699, + -0.051, + 3.303, + -0.0 + ], + [ + -2078.087, + 435.328, + 101.699, + -0.051, + 3.303, + -0.0 + ], + [ + -2078.087, + 435.328, + 101.699, + -0.051, + 28.303, + -0.0 + ], + [ + -2078.087, + 435.328, + 101.699, + -0.051, + 53.303, + 0.0 + ], + [ + -2078.087, + 435.328, + 101.699, + -0.051, + 78.303, + 0.0 + ], + [ + -2078.087, + 435.328, + 101.699, + -0.051, + 103.303, + 0.0 + ], + [ + -2107.047, + 557.809, + 111.988, + -0.051, + 103.303, + 0.0 + ], + [ + -2136.007, + 680.291, + 113.949, + -0.051, + 103.303, + 0.0 + ], + [ + -2164.967, + 802.773, + 117.12, + -0.051, + 103.303, + 0.0 + ], + [ + -2193.928, + 925.255, + 125.212, + -0.051, + 103.303, + 0.0 + ], + [ + -2222.888, + 1047.736, + 133.303, + -0.051, + 103.303, + 0.0 + ], + [ + -2251.848, + 1170.218, + 141.395, + -0.051, + 103.303, + 0.0 + ], + [ + -2280.808, + 1292.7, + 160.37, + -0.051, + 103.303, + 0.0 + ], + [ + -2280.808, + 1292.7, + 160.37, + -0.051, + 103.303, + 0.0 + ] + ], + "Rationale": [ + "A grey wheeled trash bin stands at the curb ahead on my left, and that is the stop I want before heading for the garage doorway. The roadway between us is clear, so I will walk forward to close the distance.", + "The trash bin at the curb has grown larger and sits nearer my left, so my heading is still carrying me toward it. I will keep walking forward along the street to shorten the gap.", + "The bin and the bag beside it have drifted to the far left edge of my view, so walking straight would carry me past them. I will turn left to bring the bin back in front of me before continuing.", + "The trash bin with its bag now sits squarely ahead down the curb line, so my heading is right. I will step forward along the street to close on it.", + "The bin and the sagging bag beside it are noticeably nearer, still just ahead along the curb. A few more steps should put me right beside them, so I will keep advancing.", + "The bin now fills the lower left of my view, meaning I am nearly level with it but not yet alongside. I will take one more step forward to draw even with it at the curb.", + "The grey trash bin is right at my left side, close enough to touch at the curb edge. I have reached it. I mark arriving at the bin, and now I turn my attention to the garage doorway set back behind the white picket fence on my right.", + "Standing at the bin, my heading still runs down the street, while the driveway and the house with the garage lie well off to my right behind the fence and utility pole. I will turn right to begin swinging my view toward that garage doorway.", + "My view is still angled along the street, with the fenced yards and driveways of the houses passing off to my right. Since I now need the garage front on this row of homes, I will keep turning right to swing my heading off the roadway and onto the property side.", + "The porch and picket fence now dominate my view, and the brick face that carries the garage sits at the right edge, only partly in sight. I will turn right again to bring that garage front and its driveway toward the middle of my view.", + "The brown garage door and the wide concrete driveway are now visible on the right side of my view, while the porch still occupies the center. One more turn to the right should place the doorway straight ahead so I can walk directly up the driveway.", + "The garage doorway sits squarely ahead of me with the open driveway running straight to it and nothing in the way. I will walk forward along that concrete to close the remaining distance.", + "The garage door has grown larger and stays centered, so my heading up the driveway is good. I will keep stepping forward along the pavement toward the doorway.", + "The brick garage front now fills much of my view and the driveway lamps are passing on my left, showing I am well inside the drive. I will advance again to draw closer to the doorway itself.", + "The panelled door and its white frame are close now, still lined up with my heading. Another step forward should bring me up to the mouth of the garage.", + "The garage door and its surrounding brick now span nearly my whole view, with only a short stretch of concrete left in front of me. I will step forward once more to stand at the doorway.", + "The brown paneled garage door now fills most of my view, squarely ahead across the last stretch of driveway apron. A short gap of concrete still separates me from the opening, so I will walk forward again to close it.", + "The door panels and their white frame now span the whole width of my view, with only a narrow band of driveway left at its base. One more step forward should bring me right onto the garage entrance.", + "The garage door panels fill my view at arm's length, so I am standing in its doorway. The task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002679_y-001854_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002679_y-001854_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26d908d6a2d05016e3cc1eeeb144270062655677 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002679_y-001854_z000168_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Proceed to the picture frame located above the bench.", + "Type": 0, + "Start_Pose": [ + -2679.191, + -1853.9, + 168.15, + -0.051, + -61.364, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2679.191, + -1853.9, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2618.874, + -1964.364, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2558.557, + -2074.828, + 168.248, + -0.051, + -61.364, + -0.0 + ], + [ + -2499.069, + -2180.074, + 168.793, + -0.051, + -61.364, + -0.0 + ], + [ + -2437.824, + -2198.915, + 168.793, + -0.051, + -61.364, + -0.0 + ], + [ + -2437.824, + -2198.915, + 168.793, + -0.051, + -61.364, + -0.0 + ], + [ + -2437.824, + -2198.915, + 168.793, + -0.051, + -61.364, + -0.0 + ] + ], + "Rationale": [ + "From the entry area I can already see the padded bench against the far wall with a small framed picture hanging above it, slightly right of center in my view. My heading is roughly toward that alcove, so I will step forward to close the large gap without needing to turn yet.", + "The bench and the framed picture above it are noticeably larger now, confirming I am on a good line toward them. The floor ahead along the runner is clear, so I will keep walking forward on this same heading.", + "The framed picture and the bench beneath it now fill a good part of my view, with the tall cabinet passing on my left. I am still a couple of steps short of standing at the bench, so I will advance again.", + "I am close to the alcove wall, with the framed ship picture high in my view and the corner of the bench seat entering at the bottom right. A short final step should bring me right up in front of the picture above the bench.", + "Standing this close to the wall, only the lower edge of the frame remains at the top of my view while the rest is cut off above. I will tilt my gaze upward so the whole picture frame above the bench comes into clear view.", + "The framed ship picture above the bench is fully centered and close in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002717_y002190_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002717_y002190_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa581474f3d8e09bc5b8e37ca99eba0b69eede0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002717_y002190_z000168_t4_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Cross the bedroom to the white paneled door to the left of the desk and open it.", + "Type": 4, + "Start_Pose": [ + -2717.267, + 2189.978, + 168.15, + 0.0, + 16.493, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2717.267, + 2189.978, + 168.15, + 0.0, + 16.493, + 0.0 + ], + [ + -2717.267, + 2189.978, + 168.15, + 0.0, + -8.507, + 0.0 + ], + [ + -2717.267, + 2189.978, + 168.15, + 0.0, + -33.507, + 0.0 + ], + [ + -2685.744, + 2121.249, + 168.15, + 0.0, + -33.507, + 0.0 + ], + [ + -2685.744, + 2121.249, + 168.15, + 0.0, + -8.507, + 0.0 + ], + [ + -2677.879, + 2093.758, + 168.15, + 0.0, + -8.507, + 0.0 + ], + [ + -2677.879, + 2093.758, + 168.15, + 0.0, + 16.493, + -0.0 + ], + [ + -2599.59, + 2076.175, + 168.15, + 0.0, + 16.493, + -0.0 + ], + [ + -2480.17, + 2085.775, + 168.15, + 0.0, + 16.493, + -0.0 + ], + [ + -2480.17, + 2085.775, + 168.15, + 0.0, + 41.493, + -0.0 + ], + [ + -2385.897, + 2169.16, + 168.15, + 0.0, + 41.493, + -0.0 + ], + [ + -2291.624, + 2252.545, + 168.15, + 0.0, + 41.493, + -0.0 + ], + [ + -2291.624, + 2252.545, + 168.15, + 0.0, + 41.493, + -0.0 + ], + [ + -2291.624, + 2252.545, + 168.15, + 0.0, + 16.493, + -0.0 + ], + [ + -2291.624, + 2252.545, + 168.15, + 0.0, + -8.507, + 0.0 + ], + [ + -2251.62, + 2236.32, + 168.15, + 0.0, + -8.507, + 0.0 + ], + [ + -2251.62, + 2236.32, + 168.15, + 0.0, + -8.507, + 0.0 + ], + [ + -2251.62, + 2236.32, + 168.15, + 0.0, + -8.507, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door is set in the wall ahead of me, but the bed fills the right side of my view and its foot juts into the floor between me and that wall. I will turn left to bring the open carpet and the desk corner into view, since that side offers a clear lane for crossing the bedroom.", + "From this heading the desk and its chair sit ahead on the left with clear carpet in front of them, while the target door has slid toward the right edge of my view. I will turn left once more so my heading points down the unobstructed floor beside the bed rather than straight into its corner.", + "My heading is now down the clear stretch of carpet toward the desk corner, with nothing between me and that floor space. I will step forward to cover distance across the bedroom and get past the bed before turning back toward the paneled door on the far wall.", + "Having advanced across the room, I am now facing the desk and the blank wall stretch, and the white paneled door has dropped out of my view to the right. I will turn right to bring the target door back into the center of my view so I can head straight for it.", + "The white paneled door is back in view ahead of me, to the left of the desk, with clear carpet between us. I will step forward to close the remaining distance toward it and keep the doorway framed in front of me.", + "The white paneled door sits to the right of my current heading, with the desk unit and chair filling the left side of my view. I will turn right so the door frame moves toward the center of my view and gives me a straight open lane of carpet to walk along.", + "The target door is now near the middle of my view with unobstructed carpet ahead and the dresser well off to the right. I will step forward to close the distance toward the door wall.", + "The door has grown larger and its brass handle is becoming visible, so I am still several steps short of interaction range. I will keep walking forward along this clear stretch of floor to get nearer to the door.", + "From this closer position the door panel and its handle sit slightly right of the center of my view, so my heading is drifting past it toward the empty wall. A small right turn should square me up with the door leaf before I take the remaining steps.", + "The white paneled door now fills the left part of my view with its handle clearly in sight, but I am still standing back from it with open floor between us. I will step forward to bring myself within arm's reach of the door.", + "The white paneled door now fills the left side of my view with its lever handle clearly visible, and the dresser sits clear on my right, so nothing blocks the last stretch of floor. I will step forward again to close the remaining gap and bring the door within arm's reach before trying the handle.", + "I am now pressed close to the doorway, with the door leaf and its frame filling the left of my view and the adjacent wall directly ahead. Since the target door is immediately beside me, I will attempt to open it from here and see whether it gives way.", + "My attempt to open the door left it shut, and my view is still dominated by the plain wall beside the frame rather than the door itself. The door leaf lies off to my left, so I will turn left to bring it and its handle back into the center of my view for a properly aligned attempt.", + "The door panels now cover most of my view, but the jamb is still on my right and the latch side with the handle remains out of sight to my left. I will turn left once more so the handle comes into view and my facing lines up with the point I need to act on.", + "The brass lever and deadbolt are now visible on the left of the door in front of me, so my facing is finally squared with the latch side. I will step forward a little to stand directly at the handle, which should put it within reach for another attempt after the earlier one left the door shut.", + "An earlier attempt from an off-center position left the door shut, but now the brass lever and keyed knob fill the view directly in front of me at close range. Squarely facing the panel with the handle within reach, I will try the door again, and this alignment should let the latch release.", + "The doorway now stands open onto the lit hallway beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002753_y-001641_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002753_y-001641_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b41f07f5ca154efa0fed1948def09c4afd6353ae --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002753_y-001641_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Turn away from the shower curtain, locate the bathroom door, and open it.", + "Type": 4, + "Start_Pose": [ + -2752.988, + -1641.112, + 168.15, + 0.0, + 157.974, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2752.988, + -1641.112, + 168.15, + 0.0, + 157.974, + 0.0 + ], + [ + -2752.988, + -1641.112, + 168.15, + 0.0, + -177.026, + 0.0 + ], + [ + -2752.988, + -1641.112, + 168.15, + 0.0, + -152.026, + 0.0 + ], + [ + -2752.988, + -1641.112, + 168.15, + 0.0, + -127.026, + 0.0 + ], + [ + -2752.988, + -1641.112, + 168.15, + 0.0, + -102.026, + 0.0 + ], + [ + -2778.851, + -1748.246, + 168.15, + 0.0, + -102.026, + 0.0 + ], + [ + -2778.851, + -1748.246, + 168.15, + 0.0, + -102.026, + 0.0 + ], + [ + -2778.851, + -1748.246, + 168.15, + 0.0, + -102.026, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the shower curtain and tiled tub wall, so no doorway is visible from this heading. I will turn right to sweep my view off the curtain and begin searching the rest of the bathroom for the door.", + "The curtain has slid to the left edge of my view and I now see the toilet, mirror and vanity, but still no doorway. I will keep turning right to continue scanning along this wall toward the corner where an exit is more likely.", + "From where I stand the vanity and towel ring fill my view, and the wall past the vanity corner is still unexamined. I will turn right again to bring that unseen stretch of wall into view and look for the bathroom door.", + "A white panelled door with a brass lever and deadbolt has appeared at the right side of my view, which is the bathroom door I was looking for. I will turn right once more to bring it to the center of my heading so I can approach it straight on.", + "The door is now centered ahead of me with its lever handle clearly in reach of my path, but I am still standing back near the vanity. I will move forward to close the remaining gap and get within range to operate the handle.", + "I am now directly in front of the door with the brass lever and lock filling my view, so the handle is well within reach. I will try to open the door, which should swing the panel clear and reveal the space beyond.", + "The doorway now stands open with the adjoining room and its floor visible ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002755_y-001847_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002755_y-001847_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fa7ab2f2e3352a5e2340f8f392a7a8a003e40a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002755_y-001847_z000168_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the painting on the left wall.", + "Type": 2, + "Start_Pose": [ + -2754.839, + -1847.063, + 168.15, + -0.051, + -61.364, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2754.839, + -1847.063, + 168.15, + -0.051, + -61.364, + 0.0 + ], + [ + -2754.839, + -1847.063, + 168.15, + -0.051, + -86.364, + -0.0 + ], + [ + -2746.857, + -1972.669, + 168.15, + -0.051, + -86.364, + -0.0 + ], + [ + -2756.022, + -2085.103, + 168.15, + -0.051, + -86.364, + -0.0 + ], + [ + -2754.445, + -2206.434, + 168.15, + -0.051, + -86.364, + -0.0 + ], + [ + -2754.445, + -2206.434, + 168.15, + -0.051, + -86.364, + -0.0 + ], + [ + -2754.445, + -2206.434, + 168.15, + -0.051, + -86.364, + -0.0 + ] + ], + "Rationale": [ + "The wall on my left carries a framed picture in a pale surround, sitting near the edge of my view while my heading points down the room past the tall cabinet. Other framed art hangs further right, so I fix on this left-wall piece as my target. I will turn left to bring that wall square in front of me.", + "The dark-framed picture on the left wall now sits ahead of me, lit by the sconce beside it, but it is still small and far across the open floor. The path between the desk and the low partition is clear. I will walk forward to close that distance.", + "The framed picture has grown noticeably and stays near the middle of my view, confirming my heading is still on it. I am past the desk hutch on my left with open floor ahead. I will keep walking to reduce the remaining gap.", + "The picture in its brown frame now dominates the wall in front of me, with the sconce glowing to its right and the desk shelving crowding my left. A few more steps should place me right at the wall beneath it. I will advance again.", + "I am close enough that my view now fills with bare wall surface and the picture has passed above my line of sight. To confirm I am standing at the painting rather than some blank stretch of wall, I need my gaze raised. I will look up.", + "The brown-framed painting on the left wall fills my view directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002755_y-001847_z000168_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002755_y-001847_z000168_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..727abff5056413bb8c6aa2d988f885a3c71f89c0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002755_y-001847_z000168_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the painting on the right wall.", + "Type": 2, + "Start_Pose": [ + -2754.839, + -1847.063, + 168.15, + -0.051, + -61.364, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2754.839, + -1847.063, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2694.522, + -1957.527, + 168.15, + -0.051, + -61.364, + -0.0 + ], + [ + -2694.522, + -1957.527, + 168.15, + -0.051, + -36.364, + 0.0 + ], + [ + -2593.172, + -2032.151, + 168.721, + -0.051, + -36.364, + 0.0 + ], + [ + -2491.822, + -2106.774, + 168.15, + -0.051, + -36.364, + 0.0 + ], + [ + -2491.822, + -2106.774, + 168.15, + -0.051, + -61.364, + 0.0 + ], + [ + -2432.334, + -2198.792, + 168.741, + -0.051, + -61.364, + 0.0 + ], + [ + -2432.334, + -2198.792, + 168.741, + -0.051, + -61.364, + 0.0 + ], + [ + -2432.334, + -2198.792, + 168.741, + -0.051, + -61.364, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see two framed pictures: one on the wall to my left near the desk, and a small dark framed one further ahead on the right-hand wall past the tall wardrobe. That right-hand one is my target, so I will walk forward to close the open floor and see it better.", + "The dark framed ship picture on the right-hand wall now reads clearly beside the wardrobe, but it sits off to my right rather than straight ahead. I will turn right to face the passage that runs toward it.", + "The turn has put the corridor along the right-hand wall in front of me, with the framed ship picture hanging over the bench further down. The floor between us is clear, so I will walk forward to shorten the distance to it.", + "The framed ship picture is noticeably larger now, hanging above the bench just ahead of me, and the wardrobe has slid to my left edge. I will step forward again to come within a comfortable viewing distance of it.", + "The framed ship picture has grown large but now sits well to the left of my heading, while the corridor continues past it to the right. I will turn left to bring the picture in front of me instead of drifting beyond it.", + "The framed ship picture is now squarely in front of me above the bench, with clear floor between us. I will step forward once more to stand directly before it.", + "I am close enough that only the bottom edge of the dark frame clips the top of my view, with plain wall filling the rest. I will look up so the whole picture comes into view and I can confirm I am standing at it.", + "The framed ship painting on this wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002766_y-001924_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002766_y-001924_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bae35a656498418b92a749dd0da207f1ca86cfd5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002766_y-001924_z000168_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Explore the area and go to the bench.", + "Type": 1, + "Start_Pose": [ + -2766.412, + -1924.042, + 168.15, + -0.051, + -162.838, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2766.412, + -1924.042, + 168.15, + -0.051, + -162.838, + 0.0 + ], + [ + -2766.412, + -1924.042, + 168.15, + -0.051, + -137.838, + 0.0 + ], + [ + -2766.412, + -1924.042, + 168.15, + -0.051, + -112.838, + 0.0 + ], + [ + -2766.412, + -1924.042, + 168.15, + -0.051, + -87.838, + -0.0 + ], + [ + -2766.412, + -1924.042, + 168.15, + -0.051, + -62.838, + -0.0 + ], + [ + -2708.956, + -2036.021, + 168.15, + -0.051, + -62.838, + -0.0 + ], + [ + -2708.956, + -2036.021, + 168.15, + -0.051, + -37.838, + -0.0 + ], + [ + -2611.987, + -2082.904, + 168.15, + -0.051, + -37.838, + -0.0 + ], + [ + -2512.59, + -2160.11, + 168.623, + -0.051, + -37.838, + -0.0 + ], + [ + -2512.59, + -2160.11, + 168.623, + -0.051, + -37.838, + -0.0 + ] + ], + "Rationale": [ + "I am standing right in front of a closed white door with only bare wall and a small side table beside it, so no bench is anywhere in my view. I will turn right to begin a consistent scan of the room for the bench or for an opening that leads somewhere it could be.", + "The turn has brought a desk corner with an office chair, a plant and shelving into view, but still no bench. I will keep rotating in the same direction to sweep the rest of this room rather than stop on this cluttered corner.", + "I am now looking straight at the desk and swivel chair against the far wall, with a low counter edge appearing at the right, and there is still nothing that resembles a bench. Continuing the same rightward scan should reveal what lies past that counter and toward the room's opening.", + "The view has opened past the half wall to a cabinet, a plant and what looks like a passage with brighter flooring on the right, which suggests a corridor area beyond this workspace. I will turn right once more to bring that opening and its floor fully into view.", + "Past the half wall and the tall chest of drawers I can now see a low upholstered bench standing against the corridor wall on a striped runner. Since the target is visible ahead, I will stop scanning and walk forward toward it.", + "I have closed distance and the bench now sits to the right of the tall chest, off my heading, while the chest and side table crowd the center of my view. I will turn right to line my heading up with the bench and the corridor it stands in.", + "The turn has put the corridor and the bench roughly ahead of me, with the striped runner leading straight to it past the chest of drawers. I will walk forward along this open corridor to close in on the bench.", + "The bench is now close on my left, set against the wall just beyond the end of the chest of drawers. One more step forward should bring me alongside it, close enough to count as reaching it.", + "The upholstered bench is directly beside me in the lower left of my view, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002769_y-002086_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002769_y-002086_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7480f11221261bee4a4de296c1af7aaa5b9d320 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002769_y-002086_z000168_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door directly in front of you.", + "Type": 4, + "Start_Pose": [ + -2769.223, + -2085.733, + 168.15, + 0.0, + 87.598, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2769.223, + -2085.733, + 168.15, + 0.0, + 87.598, + 0.0 + ], + [ + -2763.948, + -1959.984, + 168.15, + 0.0, + 87.598, + -0.0 + ], + [ + -2758.746, + -1847.028, + 168.15, + 0.0, + 87.598, + -0.0 + ], + [ + -2758.746, + -1847.028, + 168.15, + 0.0, + 87.598, + -0.0 + ], + [ + -2758.746, + -1847.028, + 168.15, + 0.0, + 87.598, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits squarely ahead of me across the open floor, its brass handle clearly visible at the right edge of the panel. I am still several steps back, too far for the latch to be within reach, so I will move forward along my current heading. No furniture or obstruction lies between me and the doorway, so this should close most of the gap.", + "The door now fills my view and the brass lever handle is plainly in front of me, but the frame edges still suggest a little standing distance remains. I will step forward once more to bring myself right up against the door so the handle is comfortably within arm's reach. My heading is already straight at the panel, so no turn is needed.", + "I am now pressed close to the door, with only the raised panel moldings filling my view, which means the latch is directly in front of me at arm's length. The door has not moved from its closed position, so I will attempt to operate the handle and push it open. If the latch is unlocked, the panel should swing clear and reveal the space beyond.", + "The paneled door now stands swung open with the tiled bathroom and tub visible beyond it. The task is complete, so I stop here rather than act further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002819_y-000206_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002819_y-000206_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be0da59a521afd17042138057bc1e73bb54e8395 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002819_y-000206_z000098_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "First go to the trash bin near the big tree, then move to the lamp post in the yard.", + "Type": 3, + "Start_Pose": [ + -2819.306, + -205.801, + 98.15, + -0.051, + -130.854, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2819.306, + -205.801, + 98.15, + -0.051, + -130.854, + 0.0 + ], + [ + -2901.635, + -300.998, + 98.15, + -0.051, + -130.854, + -0.0 + ], + [ + -2901.635, + -300.998, + 98.15, + -0.051, + -155.854, + 0.0 + ], + [ + -3016.482, + -352.482, + 98.15, + -0.051, + -155.854, + 0.0 + ], + [ + -3131.329, + -403.967, + 98.919, + -0.051, + -155.854, + 0.0 + ], + [ + -3246.176, + -455.451, + 103.293, + -0.051, + -155.854, + 0.0 + ], + [ + -3246.176, + -455.451, + 103.293, + -0.051, + 179.146, + 0.0 + ], + [ + -3372.021, + -453.575, + 103.184, + -0.051, + 179.146, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + 179.146, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + 179.146, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + -155.854, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + -130.854, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + -105.854, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + -80.854, + 0.0 + ], + [ + -3497.866, + -451.699, + 103.075, + -0.051, + -55.854, + 0.0 + ], + [ + -3427.221, + -555.861, + 111.808, + -0.051, + -55.854, + 0.0 + ], + [ + -3356.575, + -660.023, + 113.949, + -0.051, + -55.854, + 0.0 + ], + [ + -3285.93, + -764.185, + 114.601, + -0.051, + -55.854, + 0.0 + ], + [ + -3215.285, + -868.348, + 121.482, + -0.051, + -55.854, + 0.0 + ], + [ + -3215.285, + -868.348, + 121.482, + -0.051, + -30.854, + 0.0 + ], + [ + -3107.238, + -932.895, + 125.747, + -0.051, + -30.854, + 0.0 + ], + [ + -2999.191, + -997.442, + 130.011, + -0.051, + -30.854, + 0.0 + ], + [ + -2891.144, + -1061.989, + 134.275, + -0.051, + -30.854, + 0.0 + ], + [ + -2891.144, + -1061.989, + 134.275, + -0.051, + -30.854, + 0.0 + ] + ], + "Rationale": [ + "The green wheeled trash bin sits far ahead on my left, at the curb under the wide spreading tree. It is much too distant to count as arriving there, so I will walk forward along the driveway to cut down that gap before adjusting my heading.", + "After advancing, the bin under the big tree has slid to the very edge of my view on the left, while my body still points straight down the driveway toward the garage. I will turn left to bring the bin and its tree back into the center of my heading.", + "The turn worked, and the trash bin now stands ahead of me at the curb with the broad tree rising directly behind it. The paved strip between us is clear, so I will step forward to close on it.", + "The bin beneath the big tree has grown larger and sits just left of my path, but I am still several strides short of standing beside it. I will keep walking forward to shorten that remaining distance.", + "The wheeled bin is now clearly framed against the trunk of the big tree just off to my left front, close enough that I can read its lid and wheels. A little more ground remains, so I will advance again.", + "My forward walking has carried me almost level with the bin, which is now pressed against the left border of my view with only its rim and wheel showing. I will turn left so the bin and the tree above it sit squarely in front of me for the last approach.", + "The turn brought the bin back into full view ahead of me, standing at the curb under the leafy canopy of the big tree. A short stretch of grass and pavement still separates us, so I will step forward toward it.", + "The trash bin now fills a large part of my view at close range beside the curb, with the big tree's trunk rising just beyond it. One more step should put me right alongside it rather than a stride short.", + "The wheeled trash bin now stands right at my left side, close under the wide trunk of the big tree overhead. I have arrived at that bin. I mark reaching it, and now I set off for the lamp post standing in the yard.", + "With the bin beside me, my heading still faces up the closed street, and no lamp post is visible in this direction. The yard with the houses and driveway lies behind my right shoulder, so I will turn right to begin swinging my view around toward it.", + "The view has swung toward the fence and hedge along the property, but I still see only stop sign, barricades and shrubbery, no lamp post. I will keep turning right to bring more of the yard and driveway into sight.", + "Now the fence, hedge and a corner of the neighbouring roof fill my view, and the open driveway continues off to the right. The lamp post is still out of sight, so I will turn right again to sweep further into the yard.", + "The garage and its wide driveway are opening up ahead of me, but the yard beyond the house, where a lamp post would stand, is still off to my right. I will turn right once more to bring that side of the property into view.", + "A tall dark lamp post with a lantern head has just come into view at the right edge, standing on the grass beside the porch. I will turn right once more to place it more centrally ahead before walking toward it.", + "The lamp post now stands clearly ahead of me on the lawn beside the porch, with the open driveway running toward it. Nothing blocks the way, so I will walk forward to close the distance.", + "The lamp post has grown larger ahead and slightly right as the porch fills more of my view, so my heading is still good. The driveway remains clear, so I will keep walking forward toward it.", + "The black lamp post standing in the front lawn is now clearly visible ahead on my right, its lantern head above the porch roofline. It is still some distance off along this driveway, so I will keep walking forward to close the gap.", + "The lamp post has grown larger and its base in the grass is now visible beside the shrubs to my right. I am still short of it, so another step forward along the driveway should bring me nearly level with it.", + "I am now roughly level with the lamp post, but it sits off to my right in the grass while my heading still runs down the driveway past the garage. I will turn right to put the post squarely ahead of me before advancing.", + "The turn has brought the lamp post into the middle of my view, rising from the lawn just ahead of the porch. With it centered on my path, I will step forward across the grass to close the remaining distance.", + "The pole now fills much of the center of my view and its base sits a few paces into the grass. I will keep moving forward to stand right at the foot of it.", + "The lamp post is directly in front of me and its base is only a short step away in the grass. One more forward step should place me right beside it.", + "The lamp post fills my view directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002820_y-001665_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002820_y-001665_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc6e5ea33338035fc88be473a14ba9610d889d4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002820_y-001665_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Turn away from the bathtub and storage shelves, locate the bathroom door, and open it.", + "Type": 4, + "Start_Pose": [ + -2820.03, + -1664.653, + 168.15, + 0.0, + 36.464, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2820.03, + -1664.653, + 168.15, + 0.0, + 36.464, + 0.0 + ], + [ + -2820.03, + -1664.653, + 168.15, + 0.0, + 11.464, + -0.0 + ], + [ + -2820.03, + -1664.653, + 168.15, + 0.0, + -13.536, + 0.0 + ], + [ + -2820.03, + -1664.653, + 168.15, + 0.0, + -38.536, + 0.0 + ], + [ + -2820.03, + -1664.653, + 168.15, + 0.0, + -63.536, + 0.0 + ], + [ + -2764.714, + -1748.382, + 168.15, + 0.0, + -63.536, + 0.0 + ], + [ + -2764.714, + -1748.382, + 168.15, + 0.0, + -63.536, + 0.0 + ], + [ + -2764.714, + -1748.382, + 168.15, + 0.0, + -63.536, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "My view is filled by the tiled tub surround with the storage shelves at the left edge, so no doorway is in sight from this heading. I will turn left to sweep away from the bathtub and begin searching that side of the room for the bathroom door.", + "Turning has brought the shelves and a plain wall into the center, with the tiled tub wall now pushed to the right side. Since still no doorway is visible here, I will keep rotating left to continue scanning for the door.", + "A vertical white frame edge has appeared at the far left of my view, which looks like the trim of a door beyond the blank wall. I will turn left again to bring that opening properly into view.", + "The paneled white door is now clearly in view, but it sits on the left side of my field with its handle cut off near the frame edge. I will turn left once more to square myself up with the door before approaching it.", + "The door is now centered ahead with its lever handle plainly visible, so my heading is good but I am still standing back from it. I will move forward to close the gap and get within reach of the handle.", + "I am right up against the door panel, close enough that its molding fills my view and the handle is at arm's length. I will attempt to open it now, which should swing the bathroom door clear.", + "The door now stands swung open with the room and its floor visible beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002826_y001452_z000148_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002826_y001452_z000148_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c26405b0da533c887dddbda75a5756f26bbf334b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002826_y001452_z000148_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the trash bag on the grass, then place it near the corner where the white picket fence meets the tall solid fence.", + "Type": 5, + "Start_Pose": [ + -2826.034, + 1452.27, + 148.18, + 0, + -143.111, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3264.431, + 1057.315, + 50.566, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2826.034, + 1452.27, + 148.18, + 0, + -143.111, + 0 + ], + [ + -2926.696, + 1376.721, + 148.18, + 0.0, + -143.111, + 0.0 + ], + [ + -3027.358, + 1301.172, + 148.18, + 0.0, + -143.111, + 0.0 + ], + [ + -3128.02, + 1225.623, + 145.169, + 0.0, + -143.111, + 0.0 + ], + [ + -3128.02, + 1225.623, + 145.169, + 0.0, + -143.111, + 0.0 + ], + [ + -3228.682, + 1150.074, + 140.178, + 0.0, + -143.111, + 0.0 + ], + [ + -3228.682, + 1150.074, + 140.178, + 0.0, + -143.111, + 0.0 + ], + [ + -3228.682, + 1150.074, + 140.178, + 0.0, + -143.111, + 0.0 + ], + [ + -3329.344, + 1074.525, + 135.187, + 0.0, + -143.111, + 0.0 + ], + [ + -3329.344, + 1074.525, + 135.187, + 0.0, + -168.111, + 0.0 + ], + [ + -3452.503, + 1048.596, + 133.474, + 0.0, + -168.111, + 0.0 + ], + [ + -3575.662, + 1022.666, + 131.761, + 0.0, + -168.111, + 0.0 + ], + [ + -3698.821, + 996.737, + 131.125, + 0.0, + -168.111, + 0.0 + ], + [ + -3821.98, + 970.808, + 129.959, + 0.0, + -168.111, + 0.0 + ], + [ + -3945.139, + 944.879, + 128.271, + 0.0, + -168.111, + 0.0 + ], + [ + -3874.684, + 959.712, + 128.937, + 0.0, + -168.111, + 0.0 + ], + [ + -3874.684, + 959.712, + 128.937, + 0.0, + -168.111, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3264.431, + 1057.315, + 50.566, + 0.0, + 0.0, + 0.0 + ], + [ + -3215.376, + 1133.362, + 109.631, + -28.202, + -92.966, + 1.862 + ], + [ + -3316.241, + 1057.653, + 104.151, + -28.195, + -92.963, + 1.862 + ], + [ + -3324.396, + 1054.882, + 105.222, + -28.193, + -117.962, + 1.872 + ], + [ + -3447.151, + 1027.901, + 103.175, + -28.198, + -117.961, + 1.868 + ], + [ + -3570.555, + 1001.916, + 101.1, + -28.196, + -117.964, + 1.865 + ], + [ + -3693.999, + 975.927, + 100.04, + -28.193, + -117.955, + 1.869 + ], + [ + -3817.278, + 949.984, + 98.327, + -28.219, + -117.985, + 1.85 + ], + [ + -3940.35, + 924.064, + 96.787, + -28.202, + -117.971, + 1.857 + ], + [ + -3943.182, + 945.291, + 88.937, + 0.0, + -168.111, + 0.0 + ], + [ + -3943.182, + 945.291, + 88.937, + 0.0, + -168.111, + 0.0 + ] + ], + "PD_Dist_2D": [ + 590.1, + 464.8, + 340.1, + 216.6, + 216.6, + 99.4, + 99.4, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 21.4, + 21.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark trash bag sits on the open lawn well ahead of me, roughly centered in my path near the white picket fence. Nothing blocks the grass between us, so I will walk straight forward to close that distance before attempting any grasp.", + "The bag has grown larger and stays centered in my view, confirming my heading is still aimed at it. It remains too far for a reliable grasp, so I will keep walking forward across the grass.", + "The bag now fills a good part of the lower view, sitting just ahead of me on the grass beside the picket fence. It is still slightly beyond comfortable arm's reach, so one more step forward should bring it close enough to handle.", + "The trash bag is directly in front of me at the bottom of my view, close to the picket fence line. This looks near enough to grab, so I will reach out and try to pick it up.", + "My hands are empty and the bag was not taken, so that grasp attempt did not take hold. I was likely still a bit short of true reaching range, so I will step forward once more to stand right over it before trying again.", + "My hands are still empty from the earlier grasp attempt, and now the bag is nowhere in my forward view, which is filled only with lawn, the picket line and the tall panels. It must be sitting just below my line of sight after this last step. I will look down to bring it back into view before trying to take it again.", + "With my gaze lowered, the trash bag is now clearly in view close in front of me at the lower right, well within arm's reach. My hands remain empty after the earlier attempt, so the grasp still has to be made. I will attempt the pick from this closer, better aimed position.", + "The grasp worked, and the trash bag is now held in front of me instead of resting on the grass. The delivery spot is the corner where the white picket fence meets the tall solid panels, further along the lawn. I will step forward to begin carrying the bag in that direction.", + "Carrying the bag, I can see the picket fence running off to my right while the tall solid panels stand to my left, so their junction lies left of my current heading. Walking straight would carry me along the pickets and past that corner. I will turn left so the meeting point of the two fences sits ahead of me.", + "After the turn, the tall solid fence fills the left of my view and the pickets sweep in from the right, with their junction now roughly ahead of me. The bag is still in my hands and the drop point is several strides away across the grass. I will walk forward to close that distance.", + "The bag is secure in my hands and moves with me, so this is transport toward the drop point. Ahead the tall solid fence runs along my left and the white picket line curves in from my right, but their junction is still some distance forward. I will keep walking to close that gap.", + "Carrying the bag, I see the solid fence panels growing larger on my left while the picket rail continues on my right, and the post where the two lines meet is now clearly nearer. I am still short of that meeting point, so stopping here would leave the bag mid lawn. Another step forward should bring me closer to the corner.", + "The end post of the tall solid fence and the first pickets of the white fence now sit close together just ahead of me, with the bag still in hand. The gap between me and that corner is small but not yet close enough for a placement that reads as beside the junction. I will advance again.", + "The corner post is now directly in front of me, with the solid boards filling the left of my view and the picket fence starting immediately to its right. I am nearly at the junction, so one more short step should put me right against the target spot before releasing the bag.", + "I am right up against the tall solid fence boards at the point where the white picket line joins it, and the bag is still held. This is the corner the task names, and moving further would only push me into the fence. I will release the bag here so it rests at the junction.", + "The trash bag now rests on the ground at the corner where the white picket fence meets the tall solid fence. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002833_y-000109_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002833_y-000109_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bc2a49d82116ebf424649b128d27435f48de6bee --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002833_y-000109_z000098_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the trash bin.", + "Type": 0, + "Start_Pose": [ + -2833.266, + -108.507, + 98.15, + -0.051, + -159.431, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2833.266, + -108.507, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -2951.102, + -152.726, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -3068.937, + -196.944, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -3186.772, + -241.163, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -3304.608, + -285.382, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -3422.443, + -329.6, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -3519.56, + -373.211, + 98.15, + -0.051, + -159.431, + 0.0 + ], + [ + -3519.56, + -373.211, + 98.15, + -0.051, + -159.431, + 0.0 + ] + ], + "Rationale": [ + "I can see the grey wheeled trash bin standing at the curb ahead of me, just right of the tree trunk and near the center of my view. My heading already points down the road toward it, so I will move forward to start closing the distance.", + "The bin at the curb now appears slightly larger, confirming I am closing on it along a clear stretch of road. I will keep moving forward since no turn is needed to stay on line with it.", + "The trash bin remains centered just ahead by the grass verge, and its wheel and body are now clearly resolved. Nothing blocks my lane, so another forward step should bring me nearer.", + "The bin now occupies a noticeably larger part of my view at the curb line, so I still have some ground to cover. I will advance again to shorten the remaining gap.", + "The trash bin is close now, filling much of the lower center of my view with its lid clearly visible. A further forward step should place me right beside it.", + "The bin is directly in front of me and dominates the lower half of my view, but I am not yet fully alongside it. I will take one more short step forward to settle into position at the bin.", + "The trash bin lid is right at my feet, filling the bottom of my view at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002833_y-000109_z000098_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002833_y-000109_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a98e8a06e96f28187030e5d5dd4c643aca841a4f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002833_y-000109_z000098_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the large tree next to the trash bin.", + "Type": 0, + "Start_Pose": [ + -2833.266, + -108.507, + 98.15, + -0.051, + -130.854, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2833.266, + -108.507, + 98.15, + -0.051, + -130.854, + -0.0 + ], + [ + -2915.595, + -203.704, + 98.15, + -0.051, + -130.854, + -0.0 + ], + [ + -2997.923, + -298.901, + 98.15, + -0.051, + -130.854, + -0.0 + ], + [ + -2997.923, + -298.901, + 98.15, + -0.051, + -155.854, + 0.0 + ], + [ + -3112.77, + -350.385, + 98.15, + -0.051, + -155.854, + 0.0 + ], + [ + -3227.617, + -401.87, + 98.742, + -0.051, + -155.854, + 0.0 + ], + [ + -3342.465, + -453.354, + 103.116, + -0.051, + -155.854, + 0.0 + ], + [ + -3457.312, + -504.838, + 107.49, + -0.051, + -155.854, + 0.0 + ], + [ + -3572.159, + -556.322, + 115.67, + -0.051, + -155.854, + 0.0 + ], + [ + -3687.006, + -607.807, + 115.304, + -0.051, + -155.854, + 0.0 + ], + [ + -3687.006, + -607.807, + 115.304, + -0.051, + 179.146, + 0.0 + ], + [ + -3687.006, + -607.807, + 115.304, + -0.051, + 154.146, + 0.0 + ], + [ + -3774.512, + -566.375, + 117.142, + -0.051, + 154.146, + 0.0 + ], + [ + -3774.512, + -566.375, + 117.142, + -0.051, + 154.146, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see a grey trash bin at the curb on my left, and the thick trunk of a large leafy tree rises directly beside it. That pairing matches the target, so I will step forward along the road to begin closing the sizeable gap between us.", + "The bin and the big tree beside it now sit slightly lower and larger toward the left of my view, confirming my heading is bringing me nearer. The path along the pavement stays clear, so I will keep walking forward to reduce the remaining distance.", + "As I advance, the trash bin and its neighbouring tree have drifted to the far left of my view while my heading points at the garage and driveway instead. I will turn left to swing my facing back onto the bin and tree so I can walk straight at them.", + "After the turn the trash bin and the tall trunk behind it are back in the left half of my view with the road and sidewalk running toward them. With the alignment usable, I will move forward to keep shrinking the distance.", + "The bin is noticeably bigger and lower on my left and the stop sign near the tree is clearer, so I am still gaining ground on the target pair. I will continue forward since nothing blocks the strip of pavement in front of me.", + "The bin now stands close at the curb beside me and the broad trunk with the stop sign is only a short way ahead on my left. I will advance again so I end up alongside the tree rather than short of it.", + "The bin has slid to the very edge of my left side and the thick trunk with the stop sign fills the near ground ahead, so I am almost level with the tree. I will step forward once more to bring myself right up beside it.", + "The stop sign and the thick trunk it stands against now loom large at my left, with the sidewalk and yellow barricade just ahead. I will take another step forward to draw fully level with the trunk at the curb.", + "The thick trunk of the large tree now stands very close along the left edge of my view, with the stop sign post beside it and the open sidewalk still clear ahead. I will step forward once more so I draw level with that trunk rather than stopping short of it.", + "I have advanced far enough that the big tree's trunk has slipped almost entirely off the left side of my view, while the fence and yellow barricade fill the space in front of me. Turning left should swing that trunk back toward the center so I can judge my position relative to it.", + "The large trunk with its forked limbs is now visible but still sits left of center, with the concrete barriers and grass strip at its base. A second left turn should bring the tree squarely in front of me before I close the last bit of distance.", + "The large tree trunk now rises through the middle of my view, with the stop sign to its left and the barriers on the grass just ahead of me. I will step forward to close the short remaining gap and stand right beside the trunk.", + "The large tree's trunk fills the center of my view at arm's length, so I am standing right beside it. The task is complete and no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002864_y-000249_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002864_y-000249_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a7033a17bbee1382c6b1397ed761e664188ffec --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002864_y-000249_z000098_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the outdoor lamp near the porch.", + "Type": 0, + "Start_Pose": [ + -2863.786, + -248.759, + 98.15, + -0.051, + -102.277, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2863.786, + -248.759, + 98.15, + -0.051, + -102.277, + -0.0 + ], + [ + -2890.548, + -371.74, + 98.15, + -0.051, + -102.277, + -0.0 + ], + [ + -2917.311, + -494.72, + 109.963, + -0.051, + -102.277, + -0.0 + ], + [ + -2944.073, + -617.701, + 113.949, + -0.051, + -102.277, + -0.0 + ], + [ + -2970.836, + -740.682, + 113.949, + -0.051, + -102.277, + -0.0 + ], + [ + -2970.836, + -740.682, + 113.949, + -0.051, + -77.277, + -0.0 + ], + [ + -2954.266, + -742.121, + 113.949, + -0.051, + -77.277, + -0.0 + ], + [ + -2954.266, + -742.121, + 113.949, + -0.051, + -102.277, + -0.0 + ], + [ + -2981.973, + -746.017, + 113.949, + -0.051, + -102.277, + -0.0 + ], + [ + -3022.705, + -845.341, + 120.043, + -0.051, + -102.277, + -0.0 + ], + [ + -3022.705, + -845.341, + 120.043, + -0.051, + -77.277, + -0.0 + ], + [ + -3022.705, + -845.341, + 120.043, + -0.051, + -52.277, + 0.0 + ], + [ + -2946.798, + -945.468, + 126.658, + -0.051, + -52.277, + 0.0 + ], + [ + -2869.792, + -1045.02, + 133.235, + -0.051, + -52.277, + 0.0 + ], + [ + -2869.792, + -1045.02, + 133.235, + -0.051, + -52.277, + 0.0 + ] + ], + "Rationale": [ + "From the end of the driveway I can already pick out a tall black lamp post with a hooded fixture standing in the front yard just left of the red door, which matches the outdoor lamp near the porch. It is still far off, so I will step forward along the open concrete to begin closing that distance.", + "The lamp post and the porch columns have grown slightly larger and the hedge along the right side of the driveway is nearer, confirming I am heading the right way. The driveway ahead is still clear, so I will keep walking forward to shorten the gap to the lamp.", + "The lamp's head is now clearly resolved above the hedge line, roughly ahead and to my right, and the garage door fills more of my view. Nothing blocks the concrete in front of me, so another forward step should bring the lamp noticeably closer.", + "The lamp post is now large and close to the right side of my view, with the tall hedge and porch railing beside it. I will continue straight up the driveway to draw level with the lamp before turning toward it.", + "The lamp post has slipped to the right side of my view, mostly hidden behind the hedge and foliage, while my heading still points straight down the driveway toward the garage. I will turn right to bring the lamp and the porch back toward the center of my view and face my target.", + "After turning, the lit lamp head sits high near the center of my view above the porch roofline, so my heading is now aimed at the target. Dense hedge leaves crowd the near ground on this line, so this forward step may only gain me a short amount of ground.", + "Broad hedge leaves now fill most of my view and the lamp post is only glimpsed above them, so this direct line into the shrubbery gives me almost no room to advance. I will turn left to face back along the open driveway lane and keep moving up beside the hedge instead of into it.", + "The open driveway is in front of me again, with the hedge and the base of the lamp post to my right and the porch beyond it. I will step forward along the clear pavement to work past the hedge and reach a position where I can turn in on the lamp.", + "The tall lamp post stands just off my right shoulder at the edge of my view, with the porch railing and shrubs beside it, so I still need to close the gap along this paved area before turning in. I will step forward again to bring myself level with the porch frontage rather than stopping short beside the hedge. This should shorten the remaining distance to the lamp.", + "Straight ahead I only see the garage door and brick wall, while the porch and the lamp post lie off to my right beyond the low shrubs. Turning right should swing my heading away from the garage and back toward the porch side where the lamp stands.", + "The porch with its red door is now in view and the lamp post rises to the right of center, still not squarely in front of me. I will turn right once more so the post sits near the middle of my heading before I advance across the lawn.", + "The lamp post now runs straight up the center of my view with the porch and red door directly behind it, so my heading is lined up with the target. I will walk forward across the grass to close the remaining distance toward the post.", + "The post is centered and noticeably thicker in my view, but the flower box and porch steps are still some distance ahead of me. One more forward step should bring me right up beside the lamp near the porch.", + "The lamp post stands directly in front of me at arm's reach, beside the porch railing and red door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002889_y-001400_z000165_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002889_y-001400_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..efc939dd85e0e063a33e8b4ac2df90abe6fee86e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002889_y-001400_z000165_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Walk along the covered porch to the red front door and open it.", + "Type": 4, + "Start_Pose": [ + -2889.098, + -1400.065, + 165.15, + 0.0, + -2.936, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2889.098, + -1400.065, + 165.15, + 0.0, + -2.936, + 0.0 + ], + [ + -2763.404, + -1406.511, + 165.15, + 0.0, + -2.936, + 0.0 + ], + [ + -2637.71, + -1412.958, + 165.15, + 0.0, + -2.936, + 0.0 + ], + [ + -2637.71, + -1412.958, + 165.15, + 0.0, + -27.936, + 0.0 + ], + [ + -2527.626, + -1452.14, + 165.15, + 0.0, + -27.936, + 0.0 + ], + [ + -2527.626, + -1452.14, + 165.15, + 0.0, + -52.936, + 0.0 + ], + [ + -2527.626, + -1452.14, + 165.15, + 0.0, + -77.936, + 0.0 + ], + [ + -2527.626, + -1452.14, + 165.15, + 0.0, + -77.936, + 0.0 + ], + [ + -2527.626, + -1452.14, + 165.15, + 0.0, + -77.936, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red front door is visible ahead on my left along the covered porch, and the planked walkway in front of me is clear. I will move forward down the porch to close the distance to that door.", + "The red door is now much larger and close on my left, but I am still slightly short of its panel. Another step forward should bring me level with the doorway and its handle.", + "I am right beside the door, with only its red edge and brass knob at the far left of my view while my heading points down the porch. Turning left should swing my facing toward the door face instead of the porch corridor.", + "The red door with its glass pane and knob now sits on my left, but it is still off to the side rather than centered ahead. Moving forward should place me squarely in front of the door frame within reach of the handle.", + "My view is filled with pale siding and the porch lamp, so the door has slipped out of my facing to the left as I advanced. Turning left should bring the red door and its knob back into the center of my view.", + "The red door and its brass knob are back in view but sit on the left half, with siding still occupying the right side of my facing. One more left turn should center me on the door for a handle interaction.", + "I am now directly in front of the red door, with its glass pane and brass knob filling my view at arm's length. I will operate the handle, which should release the latch and swing the door open.", + "I can see the open doorway with the interior hallway beyond, and the red door swung aside. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002892_y-001868_z000168_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002892_y-001868_z000168_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b6343a71e3af3ae3322305525113c255c5187a8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002892_y-001868_z000168_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the cabinet on the left.", + "Type": 2, + "Start_Pose": [ + -2891.664, + -1867.951, + 168.15, + -0.051, + -32.787, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2891.664, + -1867.951, + 168.15, + -0.051, + -32.787, + 0.0 + ], + [ + -2785.856, + -1936.106, + 168.15, + -0.051, + -32.787, + -0.0 + ], + [ + -2680.047, + -2004.261, + 168.15, + -0.051, + -32.787, + -0.0 + ], + [ + -2574.239, + -2072.416, + 168.15, + -0.051, + -32.787, + -0.0 + ], + [ + -2574.239, + -2072.416, + 168.15, + -0.051, + -57.787, + -0.0 + ], + [ + -2574.239, + -2072.416, + 168.15, + -0.051, + -82.787, + 0.0 + ], + [ + -2558.654, + -2180.135, + 168.793, + -0.051, + -82.787, + 0.0 + ], + [ + -2558.654, + -2180.135, + 168.793, + -0.051, + -82.787, + 0.0 + ] + ], + "Rationale": [ + "Two tall cabinets face each other across this hall: the paneled chest with the row of drawers standing beside the potted plant and sconce, and the double-door one across from it. The drawered chest is the one on my left, so that is my target. I will walk down the hall toward it.", + "The drawered chest with the plant beside it is larger in view now, but still several paces up the hall. The floor between us stays clear, so I will keep walking straight toward it.", + "The drawered chest now fills the near left of my view, close beside the bench, but I am still passing alongside rather than standing at it. Another step forward should bring me level with it.", + "My heading points straight down the corridor and the drawered chest has slid to the very edge of my view on the left. I will turn left to bring it back in front of me before closing the last distance.", + "The chest of drawers is back in view but still off to my left, with its panelled doors seen at an angle rather than squarely. Another turn left should put it centered in front of me.", + "The drawered cabinet is now squarely centered ahead with its doors and drawer fronts facing me. A step forward should close the remaining gap and put me right at it.", + "The cabinet's paneled doors and knobs fill my view at arm's length. I have arrived at it, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002947_y-000617_z000114_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002947_y-000617_z000114_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b4c389caff1c3accd65f73ed9c9e0a165aa7c28c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002947_y-000617_z000114_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the trash bin on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -2946.992, + -616.711, + 113.949, + -0.301, + 133.24, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2946.992, + -616.711, + 113.949, + -0.301, + 133.24, + 0.0 + ], + [ + -3033.211, + -525.025, + 109.064, + -0.301, + 133.24, + -0.0 + ], + [ + -3033.211, + -525.025, + 109.064, + -0.301, + 158.24, + -0.0 + ], + [ + -3150.1, + -478.367, + 105.185, + -0.301, + 158.24, + -0.0 + ], + [ + -3266.99, + -431.71, + 101.307, + -0.301, + 158.24, + -0.0 + ], + [ + -3383.879, + -385.052, + 98.11, + -0.301, + 158.24, + -0.0 + ], + [ + -3383.879, + -385.052, + 98.11, + -0.301, + -176.76, + -0.0 + ], + [ + -3509.535, + -392.165, + 98.11, + -0.301, + -176.76, + -0.0 + ], + [ + -3509.535, + -392.165, + 98.11, + -0.301, + -176.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the wheeled trash bin standing on the sidewalk ahead and to my right, near the curb by the barricades. It is still some distance away, so I will move forward along the road to begin closing that gap.", + "The bin now sits well off to my right rather than in front of me, so continuing straight would carry me past it. I will turn right to bring the bin closer to the center of my view before advancing again.", + "The trash bin is now roughly centered ahead of me at the edge of the sidewalk, with clear pavement between us. I will move forward to reduce that distance along my current heading.", + "The bin has grown noticeably larger and remains straight ahead beside the road closed barricades, confirming my heading is still good. I will keep moving forward to continue closing the remaining distance.", + "The bin is clearly nearer now, with its lid and wheel plainly visible just ahead at the curb line. I will advance once more to bring myself close to it.", + "At this short range the bin has shifted to the right of my view and is drifting toward the edge of my heading. I will turn right so the bin is squarely in front of me for the final step in.", + "The bin now stands directly in front of me and fills much of my view, so only a short step remains. I will move forward to arrive right at it.", + "The sidewalk trash bin lid fills the near foreground directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002971_y-000536_z000110_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002971_y-000536_z000110_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f8091eef0c98964dbd5a210ead3b6eed6cf0747 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002971_y-000536_z000110_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the wooden barrier beside the stop sign.", + "Type": 0, + "Start_Pose": [ + -2971.358, + -536.442, + 110.021, + -0.301, + -141.028, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2971.358, + -536.442, + 110.021, + -0.301, + -141.028, + 0.0 + ], + [ + -3069.206, + -615.599, + 113.949, + -0.301, + -141.028, + 0.0 + ], + [ + -3069.206, + -615.599, + 113.949, + -0.301, + -166.028, + 0.0 + ], + [ + -3191.34, + -645.987, + 113.949, + -0.301, + -166.028, + 0.0 + ], + [ + -3313.473, + -676.375, + 113.949, + -0.301, + -166.028, + 0.0 + ], + [ + -3435.607, + -706.763, + 113.949, + -0.301, + -166.028, + 0.0 + ], + [ + -3556.598, + -732.949, + 113.948, + -0.301, + -166.028, + 0.0 + ], + [ + -3556.598, + -732.949, + 113.948, + -0.301, + 168.972, + 0.0 + ], + [ + -3680.131, + -708.874, + 115.46, + -0.301, + 168.972, + 0.0 + ], + [ + -3803.664, + -684.799, + 115.46, + -0.301, + 168.972, + 0.0 + ], + [ + -3803.664, + -684.799, + 115.46, + -0.301, + 168.972, + 0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the red stop sign far off to my left, with a yellow wooden barrier standing on the walkway just beside it. I will step forward across the open concrete to close some of that distance before refining my heading toward the barrier.", + "After advancing, the yellow barrier and the stop sign sit well off to my left while my body still faces the garage and hedge. I will turn left to bring the barrier and the walkway leading to it toward the center of my view.", + "The turn has brought the yellow barrier and the stop sign into the middle-left of my view, with the paved walkway running straight toward them. I will walk forward along this clear path to close the remaining distance.", + "The barrier now appears larger ahead on the walkway, so my heading is carrying me toward it. I will continue forward, since the surface ahead stays open with only grass and the hedge to my right.", + "The yellow barrier across the walkway is clearly closer and the stop sign is now large on my left, confirming I am nearing the intended spot. I will step forward again to keep shrinking the gap.", + "The barrier is only a short distance ahead where the walkway meets the street, but the stop sign has drifted out past my left edge. I will advance one more step to bring me right up to the barrier.", + "I am now close to the yellow barrier, but it sits angled across the left part of my view while my heading points more toward the fence on the right. I will turn left to square up with the barrier and bring the stop sign back into view so I can confirm I am at the right one.", + "After turning, the yellow wooden barrier lies squarely ahead on the walkway with the stop sign standing right beside it on the left. I will step forward to finish closing the short remaining gap and stand at the barrier.", + "The yellow wooden barrier now spans the walkway directly ahead of me, still a short gap away with the concrete blocks and the sidewalk sign post off to my left. My heading is centered on the walkway, so one more step forward should bring me right up against the barrier.", + "The wooden barrier's yellow rail is right at my feet, filling the near edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002978_y-000148_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002978_y-000148_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd6bf8446a1880cf3138399012c7ee360a8b8681 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002978_y-000148_z000098_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the trash bin.", + "Type": 0, + "Start_Pose": [ + -2978.352, + -147.731, + 98.334, + -0.248, + 161.419, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2978.352, + -147.731, + 98.334, + -0.248, + 161.419, + -0.0 + ], + [ + -2978.352, + -147.731, + 98.334, + -0.248, + -173.581, + -0.0 + ], + [ + -3103.421, + -161.802, + 98.334, + -0.248, + -173.581, + -0.0 + ], + [ + -3228.49, + -175.872, + 98.334, + -0.248, + -173.581, + -0.0 + ], + [ + -3228.49, + -175.872, + 98.334, + -0.248, + -148.581, + -0.0 + ], + [ + -3335.894, + -241.481, + 98.334, + -0.248, + -148.581, + -0.0 + ], + [ + -3443.298, + -307.09, + 98.334, + -0.248, + -148.581, + -0.0 + ], + [ + -3519.605, + -369.761, + 98.149, + -0.248, + -148.581, + -0.0 + ], + [ + -3519.605, + -369.761, + 98.149, + -0.248, + -148.581, + -0.0 + ] + ], + "Rationale": [ + "I can see the brown wheeled trash bin standing at the curb well to the right of my current heading, near the edge of my view. Turning right should bring it closer to the center of my view so I can walk straight toward it.", + "The trash bin is now within the right portion of my view, sitting beside the curb ahead of me. I will step forward along the road to close the remaining distance to it.", + "The bin has grown noticeably larger and its wheels are now visible, so I am closing distance correctly. I will keep advancing since the roadway in front of me is still clear.", + "The bin sits off to my right by the grass strip, while my heading still points down the road toward the barricades. Turning right should line my body up with the bin so the remaining approach is a straight walk.", + "After the turn the bin sits near the middle of my view with open pavement in front of it. I will move forward to shorten the gap.", + "The bin now fills a large part of the lower center of my view, so only a short distance remains. I will advance again to come right up beside it.", + "The bin's body and lid now dominate the near foreground of my view, meaning I am nearly touching distance away. One more short step forward should place me directly at it.", + "The trash bin's lid is directly at my feet in the immediate foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003002_y-001948_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003002_y-001948_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b81d3930284c08b881dc88b40fce331b0e7f52 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003002_y-001948_z000168_t2_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Move toward the storage shelf on the left side of the garage.", + "Type": 2, + "Start_Pose": [ + -3001.725, + -1948.276, + 168.15, + -0.051, + 162.171, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3001.725, + -1948.276, + 168.15, + -0.051, + 162.171, + -0.0 + ], + [ + -3121.54, + -1909.741, + 168.15, + -0.051, + 162.171, + -0.0 + ], + [ + -3241.354, + -1871.206, + 168.15, + -0.051, + 162.171, + -0.0 + ], + [ + -3361.169, + -1832.671, + 168.15, + -0.051, + 162.171, + -0.0 + ], + [ + -3361.169, + -1832.671, + 168.15, + -0.051, + 162.171, + -0.0 + ] + ], + "Rationale": [ + "Two loaded storage racks stand together against the far wall, and the left one of the pair is the one hugging the vertical pipe that runs down beside it, so that pipe marks my target. Nothing blocks the open concrete floor between us. I will walk straight ahead to close that distance.", + "The rack beside the vertical pipe now shows its blue bins and cartons more clearly, but it is still several strides off and roughly centered in front of me. The floor between us stays clear. I will keep walking toward it.", + "I am close enough now to read individual bags and blue crates on the rack beside the pipe, though it does not yet fill my view. A short further step should bring me right up to its shelves. I will advance once more.", + "The shelves beside the pipe now fill my view, their bins and boxes within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003002_y-001958_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003002_y-001958_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b5090c45f27ce61c9532650faf5ae75735a482c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003002_y-001958_z000168_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Proceed to the shelf unit on the right.", + "Type": 2, + "Start_Pose": [ + -3001.619, + -1957.513, + 168.15, + -0.051, + 162.171, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3001.619, + -1957.513, + 168.15, + -0.051, + 162.171, + -0.0 + ], + [ + -3121.433, + -1918.978, + 168.15, + -0.051, + 162.171, + -0.0 + ], + [ + -3121.433, + -1918.978, + 168.15, + -0.051, + -172.829, + -0.0 + ], + [ + -3246.308, + -1934.689, + 168.15, + -0.051, + -172.829, + -0.0 + ], + [ + -3371.182, + -1950.4, + 168.15, + -0.051, + -172.829, + -0.0 + ], + [ + -3371.182, + -1950.4, + 168.15, + -0.051, + -172.829, + -0.0 + ] + ], + "Rationale": [ + "Two shelving units stand side by side across the room, and the one on the right, crowded with tall grey cartons on its top shelf beside the corner wall, is where I am headed. It is still well across the open floor, so I walk straight ahead to close that distance.", + "The shelf with the grey cartons on top sits off to the right of my heading, so walking on as I am aimed would carry me past its neighbour instead. I will turn right to bring it in front of me before advancing further.", + "The turn has swung the shelf holding the grey cartons into the middle of my view with clear floor leading up to it. I step forward to close in on it.", + "The shelf with the grey cartons stacked on its top now fills much of my view, its blue bins and paper sacks clearly readable, but I am still a stride or two short of standing at it. I will walk forward once more to reach its face.", + "The shelf's bins, boxes and sacks fill my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003027_y-000582_z000114_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003027_y-000582_z000114_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e5bb0e0a256cc8321439d4b3e17c47e219332244 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003027_y-000582_z000114_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the stop sign beside the tree.", + "Type": 0, + "Start_Pose": [ + -3027.153, + -581.578, + 113.838, + -0.301, + 133.24, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3027.153, + -581.578, + 113.838, + -0.301, + 133.24, + -0.0 + ], + [ + -3027.153, + -581.578, + 113.838, + -0.301, + 158.24, + -0.0 + ], + [ + -3144.042, + -534.92, + 109.959, + -0.301, + 158.24, + -0.0 + ], + [ + -3144.042, + -534.92, + 109.959, + -0.301, + -176.76, + -0.0 + ], + [ + -3269.698, + -542.034, + 110.606, + -0.301, + -176.76, + -0.0 + ], + [ + -3395.354, + -549.147, + 111.253, + -0.301, + -176.76, + -0.0 + ], + [ + -3521.01, + -556.26, + 111.9, + -0.301, + -176.76, + -0.0 + ], + [ + -3646.667, + -563.373, + 118.473, + -0.301, + -176.76, + -0.0 + ], + [ + -3646.667, + -563.373, + 118.473, + -0.301, + -176.76, + -0.0 + ] + ], + "Rationale": [ + "I spot the red octagonal stop sign far off to my right, near the trunks by the sidewalk, while my body faces down the road. Turning right should swing that sign closer to the center of my view so I can walk straight toward it.", + "The stop sign now sits ahead and slightly right, beside the tree at the far side of the sidewalk, with open pavement between me and it. I will walk forward along the clear curb to close some of that distance.", + "After advancing, the sign still hangs to the right of my heading rather than straight in front of me. A further right turn should line my path up with the sign and its tree so the remaining approach is a straight walk.", + "The stop sign and the tree it stands beside are now centered ahead of me down the walkway. With grass and concrete clear in that direction, I step forward to shorten the gap.", + "The sign has grown noticeably larger and stays centered on my heading, so my alignment is holding. I continue walking forward since I am still several strides short of standing beside it.", + "The sign face is clearly readable now and the tree trunk behind it fills more of my view, but I am not yet alongside them. Another forward step should bring me close enough to stop there.", + "The stop sign now stands just ahead and slightly left, its post rising from the grass strip beside the tree. One more forward step should place me right at its base.", + "The stop sign towers directly in front of me with its tree trunk right beside it. I have arrived at the target, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003129_y-000650_z000114_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003129_y-000650_z000114_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..872c1b355e6ff25a210be51be4de2f8d13cce4e6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003129_y-000650_z000114_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Explore the area and go to the mailbox.", + "Type": 1, + "Start_Pose": [ + -3128.728, + -649.765, + 113.949, + -0.051, + -125.284, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3128.728, + -649.765, + 113.949, + -0.051, + -125.284, + -0.0 + ], + [ + -3128.728, + -649.765, + 113.949, + -0.051, + -100.284, + -0.0 + ], + [ + -3128.728, + -649.765, + 113.949, + -0.051, + -75.284, + -0.0 + ], + [ + -3128.728, + -649.765, + 113.949, + -0.051, + -50.284, + -0.0 + ], + [ + -3128.728, + -649.765, + 113.949, + -0.051, + -25.284, + -0.0 + ], + [ + -3128.728, + -649.765, + 113.949, + -0.051, + -0.284, + -0.0 + ], + [ + -3128.728, + -649.765, + 113.949, + -0.051, + 24.716, + 0.0 + ], + [ + -3014.399, + -597.141, + 115.278, + -0.051, + 24.716, + 0.0 + ], + [ + -2900.07, + -544.517, + 114.965, + -0.051, + 24.716, + 0.0 + ], + [ + -2785.74, + -491.892, + 119.402, + -0.051, + 24.716, + 0.0 + ], + [ + -2785.74, + -491.892, + 119.402, + -0.051, + 24.716, + 0.0 + ] + ], + "Rationale": [ + "From this spot on the driveway I only see a tall hedge, a fence line, and the garage of the house, with no mailbox anywhere in view. Mailboxes normally sit out by the street, so I will turn right to begin a steady scan of the surroundings for the curb and street side of this property.", + "The view now covers the garage door and the near end of the porch, but there is still no mailbox in sight. I will keep rotating right in the same direction to bring the front yard and the road frontage into view.", + "I can see the front porch with the red door and the shrubs along the house, yet no mailbox stands near the walkway. Continuing the same rightward scan should carry my view past the yard toward the street edge where a mailbox is more likely.", + "The sidewalk and the roadway with a parked car have come into view on the right, which is the kind of curb frontage where a mailbox usually stands. I will turn right again to face that street side more directly and look along the curb.", + "The sidewalk now runs straight ahead with the road and neighboring houses beyond it, and a post-like object stands in the grass strip to the right near the curb. I will keep turning right to bring that curbside area fully into the center of my view.", + "A mailbox on a wooden post is now clearly visible to the right of center, standing in the grass strip between the sidewalk and the road. I will turn right once more to line my heading up with it before walking over.", + "The mailbox on its post is now roughly in front of me at the edge of the grass verge, with clear sidewalk and lawn between us. I will walk forward to close the distance toward it.", + "The mailbox has grown noticeably larger and sits just ahead of me beside the curb, so my heading is good. I will step forward again to bring myself right up to it.", + "The white mailbox on its wooden post is now clearly in view just ahead of me at the curb, though still a short distance off with shrubs at its base. I will take one more step forward along the grass strip to close that remaining gap and stand right beside it.", + "The mailbox and its post fill the near foreground directly beside me at the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003129_y001045_z000133_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003129_y001045_z000133_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c2a04a54a7f5a1e0e8d8bd10d41975bcbb39d1a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003129_y001045_z000133_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the corner where the two white privacy fences meet.", + "Type": 0, + "Start_Pose": [ + -3129.028, + 1044.871, + 133.225, + -0.051, + 120.403, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3129.028, + 1044.871, + 133.225, + -0.051, + 120.403, + 0.0 + ], + [ + -3192.723, + 1153.423, + 140.396, + -0.051, + 120.403, + -0.0 + ], + [ + -3256.417, + 1261.974, + 147.568, + -0.051, + 120.403, + -0.0 + ], + [ + -3320.112, + 1370.526, + 148.213, + -0.051, + 120.403, + -0.0 + ], + [ + -3320.112, + 1370.526, + 148.213, + -0.051, + 145.403, + -0.0 + ], + [ + -3423.715, + 1441.989, + 148.213, + -0.051, + 145.403, + -0.0 + ], + [ + -3527.317, + 1513.452, + 148.213, + -0.051, + 145.403, + -0.0 + ], + [ + -3630.92, + 1584.915, + 148.213, + -0.051, + 145.403, + -0.0 + ], + [ + -3630.92, + 1584.915, + 148.213, + -0.051, + 170.403, + -0.0 + ], + [ + -3755.018, + 1605.897, + 148.213, + -0.051, + 170.403, + -0.0 + ], + [ + -3879.115, + 1626.88, + 148.213, + -0.051, + 170.403, + -0.0 + ], + [ + -3879.115, + 1626.88, + 148.213, + -0.051, + 170.403, + -0.0 + ] + ], + "Rationale": [ + "The white privacy fence runs across the yard ahead of me, and toward the right side I can see one panel line end and a second fence section set behind it, suggesting the corner junction lies that way. I will move forward across the grass to close distance on the fence line before committing to a heading. The tree trunk is off to my right, so the path straight ahead should stay clear.", + "The fence panels now fill more of my view and the break between the near fence run and the section behind it is clearer to the right. Continuing straight forward should keep shrinking the distance to that junction area before I adjust my heading.", + "I am close enough now that the individual posts and boards are distinct, and the second fence run still sits off to my right rather than in front of me. One more step forward should bring me near enough to the fence line that a small right turn will point me straight at where the two runs meet.", + "From here the fence directly ahead runs across my path, while the joining section and the gap between the runs sit to my right. I will turn right to swing my heading toward that junction so I can advance along the yard instead of walking into the panel in front of me.", + "After the turn I can see both fence runs, the one receding on my left and the other crossing at an angle on my right, with open grass between them. Moving forward should carry me toward the point where those two lines converge.", + "The two fence runs now visibly converge near the base of the post ahead of me, confirming that the corner is straight along my current heading. I will step forward again to keep closing that remaining gap.", + "The junction of the two white fences is close, with the tall left panel and the angled right panel meeting at the post just ahead of me. Another forward step should bring me right up to that corner.", + "The near fence on my left is filling much of my view and the meeting seam sits low and slightly right of my heading, so I am angled along the panel rather than into the corner. I will turn right to square up on the junction of the two fences before taking the final steps.", + "The junction of the two white fence panels now sits just left of center in my view, with the left run angling away and the right run facing me. There is still a strip of open grass between me and that seam, so I will move forward to close the remaining gap toward the corner.", + "The two fence runs now meet in a clear vertical seam directly ahead of me and fill most of my view. A short patch of grass remains at the base of the corner, so one more forward step should bring me right up against the meeting point.", + "I am directly at the seam where the two white privacy fences meet, both panels filling my view at close range. The task goal is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003150_y-000186_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003150_y-000186_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..07a0b48362bbf62b89ccc16054fd36b0eaba384b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003150_y-000186_z000098_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the end of the white picket fence closest to the yellow road barrier.", + "Type": 0, + "Start_Pose": [ + -3150.017, + -185.651, + 98.206, + -0.301, + 104.663, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3150.017, + -185.651, + 98.206, + -0.301, + 104.663, + 0.0 + ], + [ + -3181.876, + -63.893, + 98.206, + -0.301, + 104.663, + 0.0 + ], + [ + -3213.734, + 57.865, + 98.206, + -0.301, + 104.663, + 0.0 + ], + [ + -3245.593, + 179.624, + 98.206, + -0.301, + 104.663, + 0.0 + ], + [ + -3245.593, + 179.624, + 98.206, + -0.301, + 129.663, + 0.0 + ], + [ + -3325.924, + 276.51, + 98.206, + -0.301, + 129.663, + 0.0 + ], + [ + -3406.255, + 373.396, + 98.206, + -0.301, + 129.663, + 0.0 + ], + [ + -3486.586, + 470.283, + 117.448, + -0.301, + 129.663, + 0.0 + ], + [ + -3486.586, + 470.283, + 117.448, + -0.301, + 154.663, + 0.0 + ], + [ + -3600.337, + 524.142, + 122.631, + -0.301, + 154.663, + 0.0 + ], + [ + -3714.087, + 578.002, + 116.928, + -0.301, + 154.663, + 0.0 + ], + [ + -3714.087, + 578.002, + 116.928, + -0.301, + 129.663, + 0.0 + ], + [ + -3794.418, + 674.888, + 115.441, + -0.301, + 129.663, + 0.0 + ], + [ + -3872.427, + 754.977, + 115.46, + -0.301, + 129.663, + 0.0 + ], + [ + -3872.427, + 754.977, + 115.46, + -0.301, + 129.663, + 0.0 + ], + [ + -3872.427, + 754.977, + 115.46, + -0.301, + 129.663, + 0.0 + ] + ], + "Rationale": [ + "From the road I can see the long white picket fence running along the far side of the grass strip, and the yellow striped road barriers sit at its right end. I will move forward across the pavement to close the wide gap between me and the fence line before I refine my heading.", + "The fence and the curb have grown noticeably larger, so my forward heading is carrying me straight toward the fence line. I will keep moving forward to reach the near edge of the grass strip, since the yellow barrier end is still far off to my right.", + "The curb and grass verge now fill the lower part of my view and the pickets are clearly resolved ahead of me. Another forward step should bring me onto the verge near the fence, from where I can turn toward the barrier end.", + "I am now close to the fence, but I am facing it broadside while my goal lies at its far right end where the yellow striped barriers stand. I will turn right to point my heading along the fence line toward that barrier end.", + "My heading now runs along the fence with the yellow striped concrete barriers visible ahead on the right. I will move forward down this verge and walkway to shorten the distance to the fence end beside them.", + "The barriers and a yellow sawhorse near the fence end are closer and larger, confirming I am tracking the right stretch of fence. I will continue forward along the walkway to keep closing on that end.", + "The bush in the right foreground partly blocks my sightline, but the yellow barrier and the tall solid fence panels marking the picket run's end are just ahead. I will step forward again to get past this planting and closer to the fence terminus.", + "The picket fence and its end post are now to my left front while the yellow sawhorse barrier lies ahead on the walkway, so my heading is drifting off the line I need. I will turn right to square up with the sidewalk running toward the barrier and the fence end beside it.", + "The white picket fence runs along my left and the yellow sawhorse barrier sits ahead on the grass strip beside the sidewalk, marking the fence end I need. I will move forward along the clear paved walk to close the remaining distance toward that junction.", + "The yellow barrier is now much larger and just ahead to my right front, and the picket fence beside me is running out toward its final section. Another step forward should bring me level with where the fence terminates next to that barrier.", + "I am nearly beside the yellow barrier, but the end of the picket fence with its taller corner post lies off to my left rather than straight ahead. I will turn left to put that fence terminus centered in front of me before making the final approach.", + "With the turn done, the last pickets and the tall end post are now framed ahead of me, and the yellow barrier stands right at that same spot. I will step forward to close the short remaining gap to the fence end.", + "The terminal post where the pickets meet the taller board fence is now only a step away on my left front, with the yellow barrier at my right. One more forward step should place me directly at that fence end.", + "I am standing right at the point where the picket fence stops against the tall board fence, and the yellow barrier is at my side. Looking down should let me confirm the base of that end post and my footing at the fence terminus.", + "The last pickets and their end post are at my feet with the yellow barrier right beside them. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f213dc25e9a517c2478edc17456b8abc9a9bfe --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the wall lamp on the left side of the porch.", + "Type": 2, + "Start_Pose": [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + -0.0 + ], + [ + -3134.011, + -1043.613, + 133.004, + -0.248, + -63.024, + -0.0 + ], + [ + -3134.011, + -1043.613, + 133.004, + -0.248, + -38.024, + -0.0 + ], + [ + -3034.866, + -1121.14, + 138.126, + -0.248, + -38.024, + -0.0 + ], + [ + -3034.866, + -1121.14, + 138.126, + -0.248, + -13.024, + -0.0 + ], + [ + -2912.246, + -1149.504, + 140.0, + -0.248, + -13.024, + -0.0 + ], + [ + -2789.626, + -1177.867, + 141.873, + -0.248, + -13.024, + -0.0 + ], + [ + -2667.005, + -1206.23, + 143.747, + -0.248, + -13.024, + -0.0 + ], + [ + -2667.005, + -1206.23, + 143.747, + -0.248, + -38.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + -0.248, + -38.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + -0.248, + -63.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + -0.248, + -88.024, + -0.0 + ], + [ + -2567.86, + -1283.757, + 148.162, + -0.248, + -113.024, + 0.0 + ], + [ + -2609.022, + -1399.948, + 165.149, + -0.248, + -113.024, + 0.0 + ], + [ + -2609.022, + -1399.948, + 165.149, + -0.248, + -113.024, + 0.0 + ], + [ + -2609.022, + -1399.948, + 165.149, + -0.248, + -113.024, + 0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the covered porch with its red door, and a lantern is mounted on the siding to each side of that door. My target is the one on the garage-side wall, left of the red door. I step forward to close the long gap from the pavement.", + "Straight ahead now leads into the garage wall and the corner of the house, while the porch and its lanterns extend away to my right. I turn right so my heading follows the front of the house instead of running into its end wall.", + "The porch front, the red door and the lantern on its garage-side wall are now open ahead of me, with the walkway and lawn giving a clear line. I walk forward to shorten the distance to the porch edge.", + "The planter box and the shrubs sit directly in my path, and the house front continues off to my right toward the neighbouring yard. I turn right to swing onto a heading that runs alongside the porch rather than into the planter.", + "With the porch on my left and the open lawn and picket fence on my right, the way ahead alongside the house is clear. I walk forward to draw level with the red door and the lantern beside it.", + "The red door and the lantern on its near wall have grown much larger on my left, but I am still out on the grass short of the porch steps. Another step forward should bring me abreast of that lamp.", + "The shrubs have crowded into the foreground and the porch deck and its steps now sit just off my left shoulder. I keep walking forward to clear the planting and reach the point where I can turn in toward the lamp.", + "I am now level with the porch, its deck and steps lying square to my left while my heading still runs down the side of the house. I turn left to face the porch and the lantern mounted on the wall beside the door.", + "Facing the porch square on, the red door sits at my left and the deck boards run open in front of me under the roof. I walk forward to get up onto the porch itself rather than judging the lantern from out on the grass.", + "I am now in under the porch roof, but my heading runs along the siding so the door has slid to the very edge of my view and the wall beside it is badly skewed. I turn left to swing that stretch of wall toward the middle of my view.", + "The lantern I can see from here hangs on the far side of the red door, not the garage side, so it is not the one I want. My target sits on the wall off to my left, still out of view, and another left turn should bring it in.", + "Both lanterns are showing now, one at each edge of my view flanking the door, and they are identical fixtures, so only their side tells them apart. Mine is the one on the garage side, at my left. I turn left again to bring it in front of me.", + "The garage-side lantern now sits ahead of me on the siding with the red door held off to my right, confirming I am aimed at the correct one of the pair. I step forward to close the last of the porch deck between me and that wall.", + "I am right up against the siding and the lantern has slipped to the top corner of my view because it is mounted well above head height. I look up to bring the fixture fully into view and confirm I have stopped at the correct one.", + "The garage-side lantern hangs directly in front of me, close enough to fill my view beside the red door frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4818dd8194bbc27fef057c7b07fc48a054d8b103 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the house entry door first, then head to the lamppost in the yard.", + "Type": 3, + "Start_Pose": [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + -0.0 + ], + [ + -3191.102, + -931.449, + 125.594, + -0.248, + -38.024, + -0.0 + ], + [ + -3091.957, + -1008.976, + 130.716, + -0.248, + -38.024, + -0.0 + ], + [ + -2992.812, + -1086.504, + 135.838, + -0.248, + -38.024, + -0.0 + ], + [ + -2893.668, + -1164.031, + 140.959, + -0.248, + -38.024, + -0.0 + ], + [ + -2893.668, + -1164.031, + 140.959, + -0.248, + -13.024, + -0.0 + ], + [ + -2771.047, + -1192.394, + 142.833, + -0.248, + -13.024, + -0.0 + ], + [ + -2648.427, + -1220.757, + 144.707, + -0.248, + -13.024, + -0.0 + ], + [ + -2648.427, + -1220.757, + 144.707, + -0.248, + -38.024, + -0.0 + ], + [ + -2549.282, + -1298.285, + 148.062, + -0.248, + -38.024, + -0.0 + ], + [ + -2549.282, + -1298.285, + 148.062, + -0.248, + -63.024, + -0.0 + ], + [ + -2549.282, + -1298.285, + 148.062, + -0.248, + -88.024, + -0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + -88.024, + -0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + -88.024, + -0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + -113.024, + 0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + -138.024, + 0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + -163.024, + 0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + 171.976, + 0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + 146.976, + -0.0 + ], + [ + -2544.943, + -1424.068, + 165.143, + -0.248, + 121.976, + -0.0 + ], + [ + -2610.813, + -1316.989, + 149.116, + -0.248, + 121.976, + -0.0 + ], + [ + -2677.463, + -1210.227, + 144.152, + -0.248, + 121.976, + -0.0 + ], + [ + -2677.463, + -1210.227, + 144.152, + -0.248, + 146.976, + -0.0 + ], + [ + -2782.988, + -1141.636, + 139.621, + -0.248, + 146.976, + -0.0 + ], + [ + -2782.988, + -1141.636, + 139.621, + -0.248, + 146.976, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the covered porch and its red entry door off to my right, while the garage fills the view straight ahead. Turning right should swing that door and the front walk into the middle of my view so I can head for it directly.", + "The red entry door now sits ahead of me along the porch, with open pavement and lawn between us. I will walk forward to cut down that distance.", + "The porch railing and the red door have grown larger and stay ahead of me, so my heading is still good. Another step forward should bring me nearer the entry.", + "The red door and its side lamp are close now, with the brick flower box and porch deck filling the lower view. I will keep walking forward to reach the front of the porch.", + "The entry door is right beside me on the left, but the raised brick flower box sits between me and it, so a straight push is not the way in. Turning right should point me down the open paved walk that runs alongside the porch toward its step.", + "The paved walk beside the porch is clear ahead of me, with the red door now at my left shoulder. Stepping forward should carry me past the planter to where the porch deck is reachable.", + "I am alongside the porch now and the walk still runs open in front of me. One more step forward should put me level with the porch decking beside the entry.", + "The porch deck and its step are immediately to my left while my view points down the yard past the fence. Turning left should bring the red entry door back in front of me so I can close the last of the gap.", + "The red entry door is now close on my left, but I am still standing short of it on the porch decking. I will walk forward along the porch to draw level with the doorway before turning to face it.", + "Walking along the porch has carried me past the doorway, so my view is now filled with siding, a lamp and shuttered window, with only a sliver of red at the far left. I will turn left to bring the entry door back in front of me.", + "The red door has come back into view but sits off to my left, with the window and wall lamp still taking up the middle. Another left turn should place the door squarely ahead of me.", + "The red entry door is now centered in front of me, framed by white siding, with its knob at a natural height. I will step forward to close the remaining stretch of decking and stand at the doorway itself.", + "The red entry door fills my whole view, its glass panes and brass knob within arm's reach. I have reached the house entry door. I mark reaching it, and now I set off for the lamppost standing out in the yard.", + "The entry door is right against me and nothing of the yard is visible from this heading. I will turn left to start swinging my view off the door and back toward the open porch and the grass beyond it.", + "I have only rotated far enough to catch the door's edge against the siding, so I am still aimed at the house wall. I will keep turning left to bring the open side of the porch and the yard into view.", + "A gap of daylight with railing and a neighbouring roof has appeared at the far left, while siding and the wall lamp still dominate ahead. Turning left again should swing me toward that opening and the yard where the lamppost stands.", + "My view is still filled by the house siding and the covered porch deck, with only a narrow slice of yard showing past the railing on the left. The tall yard light is not yet in sight, so I will keep rotating left to swing my heading off the wall and out toward the open lawn.", + "The porch railing and the yard beyond it now fill most of my view, and a dark vertical pole has just edged into the far left of the frame. I will turn left again to bring that pole further toward the middle of my view before committing to a walking direction.", + "The lamppost with its curved arm and lit head is clearly visible now, standing in the grass off to my left past the porch column. It is still too far off-axis for a straight walk, so I will rotate left once more to line my heading up with it.", + "The lamppost now sits near the middle of my view with the walkway and open grass leading straight toward it. With my heading set, I will step forward off the porch area to start closing the distance across the yard.", + "The lamppost has grown noticeably and its glowing head is now high in my view, so the last steps have taken me well into the yard toward it. The ground ahead is clear grass and pavement, so I will keep walking forward to close in on its base.", + "The lamppost is close, but its shaft has drifted to the right of my center as I advanced. I will turn right to put the pole back squarely ahead so my final steps land me at its base rather than beside it.", + "The lamppost shaft now runs straight up through the middle of my view with only a short stretch of grass in front of it. One more step forward should bring me right up beside the post in the yard.", + "The lamppost's shaft fills the near foreground directly in front of me, so I am standing at its base. The task is complete and no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..314c6e16cf27c2ab804802bb7870d9c889db4da1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the plate near the junction where the white picket fence meets the solid white privacy fence.", + "Type": 5, + "Start_Pose": [ + -3195.34, + 1072.315, + 135.038, + -0.051, + 177.557, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3737.146, + 1003.345, + 84.372, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3195.34, + 1072.315, + 135.038, + -0.051, + 177.557, + 0 + ], + [ + -3321.085, + 1077.68, + 135.392, + -0.051, + 177.557, + -0.0 + ], + [ + -3446.829, + 1083.045, + 135.747, + -0.051, + 177.557, + -0.0 + ], + [ + -3572.574, + 1088.409, + 136.101, + -0.051, + 177.557, + -0.0 + ], + [ + -3572.574, + 1088.409, + 136.101, + -0.051, + -157.443, + -0.0 + ], + [ + -3572.574, + 1088.409, + 136.101, + 0.0, + -157.443, + 0.0 + ], + [ + -3572.574, + 1088.409, + 136.101, + 0.0, + -157.443, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3737.146, + 1003.345, + 84.372, + 90.0, + 0.0, + 0.0 + ], + [ + -3737.146, + 1003.345, + 84.372, + 90.0, + 0.0, + 0.0 + ], + [ + -3737.146, + 1003.345, + 84.372, + 90.0, + 0.0, + 0.0 + ], + [ + -3737.146, + 1003.345, + 84.372, + 90.0, + 0.0, + 0.0 + ], + [ + -3737.146, + 1003.345, + 84.372, + 90.0, + 0.0, + 0.0 + ], + [ + -3563.664, + 1068.085, + 105.107, + -28.202, + -107.298, + 1.862 + ], + [ + -3563.664, + 1068.085, + 105.107, + -28.202, + -107.298, + 1.862 + ] + ], + "PD_Dist_2D": [ + 546.2, + 422.6, + 301.1, + 185.3, + 185.3, + 22.2, + 22.2 + ], + "Rationale": [ + "The white picket fence on my right runs into the tall solid privacy fence ahead, and the pale plate is standing upright in the grass right at that junction. It is still far off across the lawn, so I will walk straight forward to close the gap.", + "The plate has grown noticeably larger and the fence junction is clearer, confirming my heading is good. Nothing blocks the grass between me and it, so I continue walking forward to shorten the remaining distance.", + "The plate now fills a good part of the lower right of my view, close to where the picket fence abuts the privacy panels. I am still a couple of paces short of grabbing range, so I step forward again.", + "I am now beside the plate, but it has slid to the far bottom right corner of my view while the solid fence dominates straight ahead. Turning right should swing my facing onto the plate so it sits centered and reachable in front of me.", + "The plate is now squarely in front of me, standing in the grass just inside the corner where the picket fence meets the solid white privacy fence. It is within arm's reach and nothing is between us, so I will attempt to grasp it.", + "The plate is held in my hands and no longer resting in the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003213_y000045_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003213_y000045_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e497d0d221d9102719d937575edd09b1b295e28 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003213_y000045_z000098_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the wooden roadblock sign that is furthest to the right.", + "Type": 2, + "Start_Pose": [ + -3212.571, + 44.522, + 98.15, + -0.051, + -157.06, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3212.571, + 44.522, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3328.476, + -4.534, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3444.381, + -53.589, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3444.381, + -53.589, + 98.15, + -0.051, + -132.06, + -0.0 + ], + [ + -3528.695, + -147.033, + 98.15, + -0.051, + -132.06, + -0.0 + ], + [ + -3613.009, + -240.476, + 98.15, + -0.051, + -132.06, + -0.0 + ], + [ + -3613.009, + -240.476, + 98.15, + -0.051, + -107.06, + -0.0 + ], + [ + -3661.584, + -320.469, + 98.15, + -0.051, + -107.06, + -0.0 + ], + [ + -3698.508, + -440.79, + 114.872, + -0.051, + -107.06, + -0.0 + ], + [ + -3735.431, + -561.111, + 118.732, + -0.051, + -107.06, + -0.0 + ], + [ + -3735.431, + -561.111, + 118.732, + -0.051, + -132.06, + 0.0 + ], + [ + -3819.745, + -654.554, + 115.447, + -0.051, + -132.06, + 0.0 + ], + [ + -3819.745, + -654.554, + 115.447, + -0.051, + -132.06, + 0.0 + ] + ], + "Rationale": [ + "A line of yellow wooden roadblock signs spans the closed street, and the one furthest right is the one sitting off the pavement on the grass verge near the trash bin and the stop sign. They all look alike, so I pin my target to that spot beside the stop sign. I walk forward to start closing the distance.", + "The barricade on the grass beside the stop sign is still well off to my right and some way ahead, past the concrete blocks in the roadway. Walking straight ahead keeps shortening that distance before I need to angle over. I step forward again.", + "My heading still runs straight down the road, while the barricade I chose sits well to my right on the grass by the stop sign. Continuing forward on this line would slide past it. I turn right so that side of the street comes into the center of my view.", + "With the turn done, the stop sign and the barricade beside it now sit roughly ahead of me, past the trash bin at the curb. Nothing blocks the roadway on this line. I walk forward to close in.", + "The stop sign and the barricade standing on the grass behind it have grown noticeably, but they are still a fair walk away beyond the curb. Another step forward should bring me level with that verge.", + "I am now level with the verge, and the barricade I want sits off my heading toward the lawn and driveway on the right rather than along the road I am facing down. Holding this line would carry me past it. I turn right to aim into that yard.", + "The yellow wooden barricade now stands plainly ahead on the lawn just under the stop sign, with the other signs of the row no longer in my view behind me. It is the one I have been tracking beside that sign. I walk forward toward it.", + "The barricade beside the stop sign post is close now, its yellow rail and legs filling the lower left of my view over the grass. A few more steps should put me right at it. I keep moving forward.", + "The barricade's yellow rail and trestle leg now sit in the near left corner of my view, so I am nearly alongside it rather than at it. One more stride across the paving should bring me level with the frame. I walk forward.", + "The barricade has slipped down to the bottom left edge of my view, with most of the frame filled by the fence and the hedge along the driveway. If I keep this heading I lose it off my shoulder. I turn left to swing it back in front of me.", + "The turn has brought the yellow barricade back across the lower part of my view, its rail running over the paving just ahead of me. Only a short gap of grass and concrete separates us now. I step forward to close it.", + "The yellow wooden barricade stands directly at my feet, filling the bottom of my view. I have reached it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11e1029d4b66ec56d8face1ad8f20b1f2199f2fb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the second concrete roadblock from the left.", + "Type": 2, + "Start_Pose": [ + -3250.608, + -130.12, + 98.334, + -0.248, + -168.821, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3250.608, + -130.12, + 98.334, + -0.248, + -168.821, + -0.0 + ], + [ + -3374.078, + -154.521, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3497.548, + -178.921, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3497.548, + -178.921, + 98.334, + -0.248, + -143.821, + -0.0 + ], + [ + -3599.137, + -253.216, + 98.334, + -0.248, + -143.821, + -0.0 + ], + [ + -3700.727, + -327.512, + 98.334, + -0.248, + -143.821, + -0.0 + ], + [ + -3700.727, + -327.512, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3824.196, + -351.912, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3824.196, + -351.912, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3824.196, + -351.912, + 98.334, + -0.248, + -168.821, + 0.0 + ] + ], + "Rationale": [ + "From here the closed street shows a row of concrete barriers, and counting once from the left end, my target is the block standing just right of the middle ROAD CLOSED sign panel, near the curb by the large tree. It is still far down the road, so I walk straight ahead to close that gap.", + "The barrier I chose is larger now and sits slightly right of my heading, past the ROAD CLOSED panel. Nothing blocks the lane in front of me, so I keep walking forward to shorten the remaining distance.", + "My target barrier now lies off to my right, near the curb and the trash bin, while my heading points down the empty middle of the road. I turn right to bring it into the center of my view before advancing further.", + "The turn has put the concrete block I want roughly ahead of me, with the curb and grass strip beside it. I step forward along the road to reach it.", + "The block is noticeably nearer, its yellow stripe and grey face filling more of my view beside the tree and stop sign. Still a couple of strides short of it, so I keep walking forward.", + "Up close the barriers no longer read as a row, and the one I am going to has drifted toward the left side of my view while the stop sign crowds the right. I turn left to square up with it before the final step.", + "My target block is now directly in front of me at the curb edge, just a stride away. I walk forward to stand right beside it.", + "The barrier has dropped out of my forward view, which suggests I am standing right against it at the curb. I look down to confirm the concrete block is at my feet.", + "The target concrete block fills the lower view right at my feet. I have arrived, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2806d9c0432f655a7f629a85a2983cce3d0cba0c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t3_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "First, go to the trash bin, then go to the stop sign.", + "Type": 3, + "Start_Pose": [ + -3250.608, + -130.12, + 98.334, + -0.248, + -168.821, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3250.608, + -130.12, + 98.334, + -0.248, + -168.821, + -0.0 + ], + [ + -3374.078, + -154.521, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3374.078, + -154.521, + 98.334, + -0.248, + -143.821, + -0.0 + ], + [ + -3475.667, + -228.816, + 98.334, + -0.248, + -143.821, + -0.0 + ], + [ + -3475.667, + -228.816, + 98.334, + -0.248, + -143.821, + -0.0 + ], + [ + -3576.961, + -295.056, + 98.149, + -0.248, + -143.821, + -0.0 + ], + [ + -3676.747, + -322.124, + 98.149, + -0.248, + -143.821, + -0.0 + ], + [ + -3676.747, + -322.124, + 98.149, + -0.248, + -118.821, + 0.0 + ], + [ + -3737.42, + -432.392, + 114.156, + -0.248, + -118.821, + 0.0 + ], + [ + -3737.42, + -432.392, + 114.156, + -0.248, + -118.821, + 0.0 + ] + ], + "Rationale": [ + "The tall grey trash bin stands on the curb ahead to my right, with the red stop sign further along the same fence line. I will walk forward down the road to close the gap toward the bin first.", + "The trash bin now sits well off to my right, near the edge of my view, while my heading still points straight down the closed road. Turning right should bring the bin toward the center of my view so I can walk directly at it.", + "The trash bin is now centered ahead of me on the curb, its wheeled base clearly in line with my path. I will step forward to close the remaining distance to it.", + "The grey wheeled trash bin fills the lower right of my view, close enough to touch its lid. I have reached the trash bin, so I mark arriving here before setting off toward the red stop sign standing by the wooden fence.", + "The red stop sign rises ahead of me on its post beside the wooden fence, still some distance past the concrete barriers. I will walk forward along the grass strip to close on it.", + "The stop sign has grown noticeably larger and its post is clearly visible above the barricade, but I am not yet beside it. Another step forward should bring me close to the sign.", + "The stop sign sits off to my right, its post rising past the yellow barricade, while my heading still points along the street. Turning right should place the sign squarely ahead so I can walk straight to it.", + "The stop sign is now centered in front of me, its post standing on the sidewalk just beyond the yellow barricade. I will step forward to bring myself right up to it.", + "The stop sign's post stands directly in front of me, its red plate filling the top of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003267_y-000822_z000118_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003267_y-000822_z000118_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3d55afdbd3d6affb059786916fdbcf765db5b6c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003267_y-000822_z000118_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "First, go to the trash bin then move to the wooden road barrier on the right.", + "Type": 3, + "Start_Pose": [ + -3266.987, + -821.999, + 118.491, + -0.301, + 133.24, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3266.987, + -821.999, + 118.491, + -0.301, + 133.24, + 0.0 + ], + [ + -3353.206, + -730.313, + 113.744, + -0.301, + 133.24, + -0.0 + ], + [ + -3353.206, + -730.313, + 113.744, + -0.301, + 108.24, + -0.0 + ], + [ + -3392.599, + -610.78, + 115.651, + -0.301, + 108.24, + -0.0 + ], + [ + -3431.992, + -491.246, + 106.492, + -0.301, + 108.24, + -0.0 + ], + [ + -3431.992, + -491.246, + 106.492, + -0.301, + 133.24, + 0.0 + ], + [ + -3518.212, + -399.561, + 98.815, + -0.301, + 133.24, + 0.0 + ], + [ + -3518.212, + -399.561, + 98.815, + -0.301, + 133.24, + 0.0 + ], + [ + -3518.212, + -399.561, + 98.815, + -0.301, + 158.24, + 0.0 + ], + [ + -3518.212, + -399.561, + 98.815, + -0.301, + -176.76, + 0.0 + ], + [ + -3518.212, + -399.561, + 98.815, + -0.301, + -151.76, + -0.0 + ], + [ + -3572.45, + -463.313, + 112.091, + -0.301, + -151.76, + -0.0 + ], + [ + -3683.327, + -522.864, + 122.516, + -0.301, + -151.76, + -0.0 + ], + [ + -3794.204, + -582.416, + 116.678, + -0.301, + -151.76, + -0.0 + ], + [ + -3794.204, + -582.416, + 116.678, + -0.301, + -151.76, + -0.0 + ] + ], + "Rationale": [ + "The grey wheeled trash bin stands ahead of me at the curb, several paces past the joints in the sidewalk. Walking straight forward should close most of that gap before I need to adjust my heading.", + "The bin is much nearer now, but tall weeds and shrubs crowd the strip immediately behind it, so continuing straight would push me into that growth. Turning left should put me on the open road surface beside the curb, with the bin held off my right shoulder as I advance.", + "The roadway ahead of me is clear and runs parallel to the curb where the bin stands to my right. I will step forward along it to draw closer to the bin without wading through the grass.", + "The bin is large in the right of my view but still set slightly ahead of me along the curb line. Another stride forward should bring me level with it.", + "The bin now fills the lower right corner, sitting beside me rather than in front of me. Turning right should swing it back toward the centre of my view so I can close the last bit of distance head on.", + "The bin is centred just ahead of me across a short stretch of asphalt. A step forward should bring me right up against it.", + "The grey trash bin fills the bottom of my view, its lid close enough to touch. I have arrived at it. I mark reaching the trash bin, and next I make for the wooden road barrier standing off to my right.", + "Standing at the bin, my heading still points across the street toward the concrete blocks and the road closed sign. The wooden barrier I want lies well around to my right, so I will turn right to begin bringing it into view.", + "Straight ahead I still face the concrete blocks and ROAD CLOSED panels across the street, while the yellow wooden sawhorse barrier I want is off at the right edge of my view near the fence line. Another right turn should bring that barrier and the walkway beside it closer to center.", + "The yellow wooden barrier now shows on the right side of my view, standing across the concrete walkway beside the tall wooden fence. It is still not centered in front of me, so I will turn right once more to put my heading down that walkway.", + "The wooden barrier is now roughly ahead of me on the walkway that runs along the fence, with only grass and a leafy bush in between. I will walk forward to begin closing that remaining distance.", + "The barrier sits squarely on the sidewalk ahead, past the stop sign and the concrete block on my left, still several paces away. Another step forward should shorten that gap.", + "The yellow wooden barrier now spans the walkway just in front of me, its legs and rail clearly resolved against the fence. One more step should bring me right up beside it.", + "The wooden road barrier stands directly in front of me, its rail within arm's reach across the walkway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2e08acb2d7f6a90db9ef983cb77e726707729a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the second concrete roadblock from the left.", + "Type": 2, + "Start_Pose": [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3389.733, + -75.353, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3509.306, + -36.079, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3509.306, + -36.079, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3601.077, + 50.049, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3692.849, + 136.177, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3784.62, + 222.305, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3784.62, + 222.305, + 98.15, + -0.301, + 136.817, + -0.0 + ] + ], + "Rationale": [ + "Counting the concrete blocks across the street from left to right, the second one is the low barrier tucked against the left curb right beside the big tree trunk, and I will hold onto that tree as its marker since the blocks look alike. It sits well ahead, so I step forward to close the gap.", + "The concrete block beside the big tree on the left curb is nearer now but still several strides off. Nothing blocks the open lane in front of me, so I keep walking straight to shorten the distance before I adjust my heading.", + "My heading is carrying me down the middle of the road while the block I want, the one against the left curb by the big tree, sits off to my left. A modest turn to the left should put it in front of me so my next strides go straight at it.", + "The turn has lined my path up with the concrete block at the left curb beside the big tree. The pavement between us is clear, so I walk forward to close in on it.", + "The block I am heading for fills more of my view just left of the barricade, with the tree still standing right behind it. I am not yet within arm's reach, so I take another step forward.", + "At this range the barriers no longer read as a countable row; only the block at the far end of the line remains off to my left behind mine. My target stands just ahead at the curb edge, so one more step should bring me right up beside it.", + "The concrete block by the curbside tree now stands directly beside me, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_c/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da5558c2027f2b5dac3e4049e1976e6f33472329 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the third concrete roadblock from the left.", + "Type": 2, + "Start_Pose": [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3389.733, + -75.353, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3509.306, + -36.079, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3628.878, + 3.195, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3628.878, + 3.195, + 98.15, + -0.301, + -173.183, + 0.0 + ], + [ + -3753.846, + -11.744, + 98.15, + -0.301, + -173.183, + 0.0 + ], + [ + -3753.846, + -11.744, + 98.15, + -0.301, + -173.183, + 0.0 + ] + ], + "Rationale": [ + "Four concrete barriers span the street ahead, and counting from the left edge my target is the third, the one standing just left of the centerline next to a yellow ROAD CLOSED trestle. It is still far down the block, so I will walk forward to close that distance.", + "The barrier I picked, the one by the centerline with the trestle at its side, now reads noticeably larger but is still a good stretch away. Nothing blocks the open lane in front of me, so I will keep walking straight toward it.", + "The barriers at the far left of the row are sliding out of my view, so I hold onto the one I chose, the barrier next to the centerline with the trestle beside it, rather than recounting from an end I can no longer see. It sits ahead and slightly right, and I will keep advancing.", + "At this range my target barrier no longer lies on my heading; it sits off to the right of straight ahead while a trestle and another barrier crowd my left. A modest turn to the right should put it squarely in front of me before I take the last step.", + "The concrete barrier I chose is now centered low in my view with clear pavement between us. One more step forward should bring me right up to it.", + "The concrete barrier I chose stands directly in front of me, filling my lower view. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_d/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9474f6b6cf801d0f4b87a5621b3d296e67906e28 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_d/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the fourth concrete roadblock from the left.", + "Type": 2, + "Start_Pose": [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3270.161, + -114.627, + 98.15, + -0.301, + -173.183, + 0.0 + ], + [ + -3395.128, + -129.566, + 98.15, + -0.301, + -173.183, + 0.0 + ], + [ + -3520.096, + -144.505, + 98.15, + -0.301, + -173.183, + 0.0 + ], + [ + -3520.096, + -144.505, + 98.15, + -0.301, + -148.183, + -0.0 + ], + [ + -3627.041, + -210.858, + 98.15, + -0.301, + -148.183, + -0.0 + ], + [ + -3733.987, + -277.211, + 98.15, + -0.301, + -148.183, + -0.0 + ], + [ + -3733.987, + -277.211, + 98.15, + -0.301, + -148.183, + -0.0 + ] + ], + "Rationale": [ + "Four concrete roadblocks span the road, and the fourth from the left is the one at the far right beside the big tree and curb. They look alike, so I hold it by that tree. It lies well right of my heading, so I will turn right.", + "The turn has swung the row toward my center, and my barrier, the one under the tall tree by the right curb, sits ahead and slightly right of the trash bin. The open roadway between us is clear, so I will walk forward to close the distance.", + "The barrier beside the tree and curb has grown larger in my view but is still several strides off. The lane in front of me stays clear, so I will keep walking forward toward it.", + "My barrier by the tree has slid to the right edge of my view as I closed in, while the nearer blocks crowd the center. I will turn right to bring it back in front of me before advancing further.", + "The barrier beside the big tree now sits ahead of me on the grass strip by the curb, while the left end of the row has dropped out of my view, so I follow this one rather than recount. It is still a few strides away, so I will step forward.", + "The concrete barrier beside the tree now fills much of my right foreground, yet I am not level with it. I will walk forward once more to close the last of that gap.", + "The concrete barrier beside the tree fills my near view, within arm's reach. I have arrived at my target, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003281_y-001088_z000136_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003281_y-001088_z000136_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0d6be690fce7c2fc296c7a8af79a6043679d712f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003281_y-001088_z000136_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the red sign.", + "Type": 0, + "Start_Pose": [ + -3281.255, + -1087.632, + 135.939, + -0.051, + 114.837, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "MoveBackward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3281.255, + -1087.632, + 135.939, + -0.051, + 114.837, + 0.0 + ], + [ + -3334.12, + -973.414, + 128.393, + -0.051, + 114.837, + -0.0 + ], + [ + -3386.986, + -859.196, + 120.848, + -0.051, + 114.837, + -0.0 + ], + [ + -3439.852, + -744.979, + 113.711, + -0.051, + 114.837, + -0.0 + ], + [ + -3439.852, + -744.979, + 113.711, + -0.051, + 139.837, + -0.0 + ], + [ + -3536.035, + -663.804, + 113.711, + -0.051, + 139.837, + -0.0 + ], + [ + -3632.218, + -582.629, + 116.648, + -0.051, + 139.837, + -0.0 + ], + [ + -3632.218, + -582.629, + 116.648, + -0.051, + 164.837, + 0.0 + ], + [ + -3753.695, + -549.709, + 119.822, + -0.051, + 164.837, + 0.0 + ], + [ + -3753.695, + -549.709, + 119.822, + -0.051, + 164.837, + 0.0 + ], + [ + -3664.512, + -573.878, + 117.492, + -0.051, + 164.837, + 0.0 + ], + [ + -3664.512, + -573.878, + 117.492, + -0.051, + 164.837, + 0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can spot the small red octagonal sign on a post ahead and slightly to my right, past the trees and trash bin. It is still far off, so I will move forward along the walkway to close the distance while keeping it in view.", + "The red sign has grown noticeably and now reads clearly to my right of center, confirming my heading is carrying me toward it. The sidewalk ahead is still unobstructed, so I will continue forward to keep closing the gap.", + "The sign is clearly bigger and sitting further toward the right edge as I draw level with the corner area. Distance is still too great to stop, so I will take another step forward before correcting my heading.", + "My forward motion has pushed the red sign out toward the right edge of my view, so continuing straight would carry me past it. I will turn right to bring the sign back toward the center of my heading.", + "After turning, the red sign sits much closer to the center of my view with the sidewalk and grass strip open toward it. I will move forward along this corrected heading to shorten the remaining distance.", + "The red stop sign now stands large in the upper right of my view, so my heading is still carrying me toward it. The strip of grass and pavement ahead of the concrete barriers looks clear, so I will step forward again to keep closing the remaining distance.", + "The sign has grown so close that it sits at the top right edge of my view and its upper part is clipped off, meaning my heading is off to the left of it. I will turn right to bring the sign back toward the center of my view before advancing further.", + "The stop sign is now centered ahead of me with its pole rising from the grass beside the tree. The path between the concrete barrier and the yellow gate looks open, so I will move forward to finish closing on it.", + "I am now so close that only the bare metal pole fills the left edge and the red sign itself has risen out of my view, so that last step brought me nearer than a useful viewing position. I will tilt my gaze upward to confirm the sign is directly overhead rather than lost.", + "Looking up, I can see only the underside edge of the red sign leaning over me, which confirms I pushed past a good stopping spot right at its base. I will back off a short distance so the whole sign should sit properly in front of me again.", + "The red stop sign stands directly in front of me, fully in view at close range. The task is complete, so I will stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003282_y-001826_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003282_y-001826_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8193823dab002ac113e19c7c31a92f8f7c79c5f2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003282_y-001826_z000168_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Explore the area and move close to the small white interior door.", + "Type": 1, + "Start_Pose": [ + -3281.947, + -1826.312, + 168.15, + -0.051, + -131.836, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + -131.836, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + -156.836, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 178.164, + 0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 153.164, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 128.164, + 0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 103.164, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 78.164, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 53.164, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 28.164, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + 3.164, + -0.0 + ], + [ + -3281.947, + -1826.312, + 168.15, + -0.051, + -21.836, + 0.0 + ], + [ + -3165.118, + -1873.125, + 168.15, + -0.051, + -21.836, + 0.0 + ], + [ + -3048.289, + -1919.939, + 168.15, + -0.051, + -21.836, + 0.0 + ], + [ + -3001.66, + -1961.893, + 168.15, + -0.051, + -21.836, + 0.0 + ], + [ + -3001.66, + -1961.893, + 168.15, + -0.051, + -21.836, + 0.0 + ] + ], + "Rationale": [ + "In front of me I only see a metal storage rack loaded with boxes and sacks, plus a blank interior wall to its right, and no small white door anywhere. Since nothing here matches the target, I will turn left to begin a steady scan of this storage space in one consistent direction.", + "Turning has only brought a second shelving rack into sight, with the same stacked boxes, crates and paper sacks against a bare wall. There is still no white door here, so I will keep rotating left to continue the scan without changing direction.", + "Both racks are now squarely ahead of me with conduit running along the wall above them, and the whole span is shelving rather than any doorway. I will continue turning left to sweep past this storage wall toward parts of the room I have not inspected.", + "A large sectional garage door has come into sight on my left, which tells me this is a garage-style space where a small white interior door would sit on one of the plain side walls. That vehicle door is not my target, so I will keep turning left to bring the remaining walls into sight.", + "The wide garage door now dominates what is in front of me, with only the last shelf edges remaining at my right. It is clearly not the small white interior door, so I will continue the left rotation to reach the walls beyond it.", + "I am facing the flat surface of the big garage door almost head on, so nothing useful is visible except its panels and hardware. Keeping the same rotation direction, I will turn left again to sweep past this large door toward the far corner of the room.", + "The garage door still spans everything ahead of me and the corner of the room is just starting to show at its left edge. I will turn left once more so that adjoining wall comes properly into sight, since a small interior door would most likely be set there.", + "The corner has now opened up, showing a plain wall with conduit on my left while the garage door slides off to my right. A pale door casing is just appearing at the far left margin, so I will turn left again to bring that likely interior door toward the center of my heading.", + "The large sectional garage door fills the right side of my view and the wall straight ahead is bare, so no small white interior door is centered yet. At the far left edge I can just make out a pale vertical trim edge that looks like a door casing, so I will keep turning left in the same direction to bring that promising strip into view.", + "The small white paneled interior door with a brass handle is now clearly visible on the left side of my view, set into the wall beside the ceiling pipe run. Since it sits well left of my heading, I will turn left once more to bring it toward the center before walking toward it.", + "The small white interior door is now roughly centered ahead of me with its brass lever handle plainly visible, and the concrete floor between us is clear. I will walk forward to close the distance toward it.", + "The white door and its frame now dominate my view, so my heading is well aligned with the target. It is still a couple of paces off, so I will step forward again to get properly close to it.", + "The door panel now fills my entire view with the brass lever and lock just left of center, so I am nearly at it. I will take one more short step forward to settle at a close standing distance from the door.", + "The white door's panel, lock cylinder, and brass lever handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003295_y000023_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003295_y000023_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67642543b46a976e4e1c6863090b6d2e0999bbe0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003295_y000023_z000098_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the tree next to the road barriers.", + "Type": 0, + "Start_Pose": [ + -3295.022, + 23.465, + 98.15, + -0.051, + 146.032, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3295.022, + 23.465, + 98.15, + -0.051, + 146.032, + 0.0 + ], + [ + -3399.403, + 93.786, + 98.15, + -0.051, + 146.032, + -0.0 + ], + [ + -3503.784, + 164.107, + 98.15, + -0.051, + 146.032, + -0.0 + ], + [ + -3608.165, + 234.428, + 98.15, + -0.051, + 146.032, + -0.0 + ], + [ + -3712.546, + 304.75, + 98.15, + -0.051, + 146.032, + -0.0 + ], + [ + -3816.927, + 375.071, + 106.405, + -0.051, + 146.032, + -0.0 + ], + [ + -3844.622, + 413.919, + 115.693, + -0.051, + 146.032, + -0.0 + ], + [ + -3844.622, + 413.919, + 115.693, + -0.051, + 146.032, + -0.0 + ] + ], + "Rationale": [ + "I can see the concrete road barriers and the yellow \"ROAD CLOSED\" sign ahead on the roadside, with a large tree rising from the grass strip right beside them. That tree is my target, and it lies almost straight ahead along my current heading, so no turn is needed yet. I will move forward to begin closing the gap.", + "The barriers and the tall tree trunk beside them now appear slightly larger, confirming I am closing on the right spot. My heading still points along the road toward that grass strip, so continuing straight remains the efficient choice. I will move forward again.", + "The nearest concrete barrier and the tree trunk are noticeably closer, and the ROAD CLOSED sign is drifting toward the right side as I advance past it. The tree next to the barriers is still ahead of me rather than beside me, so I have more distance to cover. I will keep moving forward.", + "The barriers now fill much of the lower view and the trunk of the target tree stands just beyond them on the grass strip to my left front. I am close but not yet alongside the tree, so stopping here would leave a noticeable gap. I will advance once more.", + "The barrier is now immediately at my lower left and the thick trunk dominates the middle of my view, so I am nearly level with the tree. A little more forward motion should place me right beside it rather than slightly short. I will move forward.", + "The trunk fills the near view and the barricades sit just off my left shoulder, so I am essentially at the tree next to the road barriers. One short step forward should settle me squarely at its base. I will move forward a final short distance.", + "The tree trunk stands directly in front of me at arm's length with the road barriers beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003342_y-000869_z000122_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003342_y-000869_z000122_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c36ec1429299e3dba72feeedcda1a1bf3094796 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003342_y-000869_z000122_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the raised flower bed.", + "Type": 0, + "Start_Pose": [ + -3342.351, + -868.588, + 121.581, + -0.051, + -53.845, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3342.351, + -868.588, + 121.581, + -0.051, + -53.845, + 0.0 + ], + [ + -3268.098, + -970.21, + 128.295, + -0.051, + -53.845, + -0.0 + ], + [ + -3193.845, + -1071.831, + 135.008, + -0.051, + -53.845, + -0.0 + ], + [ + -3193.845, + -1071.831, + 135.008, + -0.051, + -28.845, + 0.0 + ], + [ + -3083.601, + -1132.551, + 139.019, + -0.051, + -28.845, + 0.0 + ], + [ + -2973.358, + -1193.27, + 143.031, + -0.051, + -28.845, + 0.0 + ], + [ + -2863.747, + -1238.171, + 145.997, + -0.051, + -28.845, + 0.0 + ], + [ + -2863.747, + -1238.171, + 145.997, + -0.051, + -28.845, + 0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the raised brick planter with flowers sitting along the front porch, ahead and slightly to my right. Nothing blocks the concrete in front of me, so I will move forward to begin closing that distance.", + "The porch and the flower-filled brick bed now fill more of my view, confirming I am on a good line toward the target. I will keep moving forward along the clear driveway to shorten the remaining gap.", + "The raised planter sits off to the right of my current heading, while straight ahead leads into the garage wall and porch corner. A modest turn to the right should place the flower bed near the center of my view before I advance again.", + "After the turn the brick flower bed and the lawn walkway beside it are now framed ahead of me. I will move forward along the grass and paving toward the planter.", + "I am close enough now to see the individual blooms and the light brick edge of the raised bed, but it is still a step or two away. Another forward move should bring me right up beside it.", + "The planter's brick edge and hanging foliage are now at the lower edge of my view, meaning I am almost alongside it. I will advance one more short step to stand directly at the raised bed.", + "The raised brick flower bed with its blooms is directly beside me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003372_y-001722_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003372_y-001722_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a69b68e3edbaea2871d4b58e0137b0f72db6b3b2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003372_y-001722_z000168_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move toward the small door in the garage.", + "Type": 0, + "Start_Pose": [ + -3371.885, + -1722.384, + 168.15, + -0.051, + 2.211, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3371.885, + -1722.384, + 168.15, + -0.051, + 2.211, + 0.0 + ], + [ + -3371.885, + -1722.384, + 168.15, + -0.051, + -22.789, + -0.0 + ], + [ + -3255.851, + -1771.134, + 168.15, + -0.051, + -22.789, + -0.0 + ], + [ + -3139.817, + -1819.884, + 168.15, + -0.051, + -22.789, + -0.0 + ], + [ + -3023.783, + -1868.634, + 168.15, + -0.051, + -22.789, + -0.0 + ], + [ + -3023.783, + -1868.634, + 168.15, + -0.051, + -22.789, + -0.0 + ] + ], + "Rationale": [ + "From this spot inside the garage I can see the small white panel door set in the far wall on my left, while the large garage door fills the right side of my view. My heading is aimed too far right for a straight approach, so I will turn left to bring that small door closer to the center of my view. That should give me a clean forward path across the open floor.", + "The small door now sits near the middle of my view with clear, empty concrete floor between me and it. Nothing blocks the straight line, so I will move forward to begin closing the distance toward the door.", + "The door frame and its brass knob are noticeably larger now, confirming that my heading is carrying me straight at the target. The route ahead is still clear floor, so I will move forward again to keep reducing the gap.", + "The door now dominates the left portion of my view and the adjacent wall is close, so I am nearly within reach of it. One more forward step should place me directly in front of the small door at a proper standing distance.", + "The small door's panels and knob fill my view at arm's length. The task is complete, so I stop here rather than pressing into the door." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003411_y-001745_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003411_y-001745_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93b64da323fd7aa4fea6f208b5d6c2c46751ecf2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003411_y-001745_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white side door on the left wall of the garage, not the large garage door.", + "Type": 4, + "Start_Pose": [ + -3411.246, + -1745.232, + 168.15, + 0.0, + -20.724, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3411.246, + -1745.232, + 168.15, + 0.0, + -20.724, + 0.0 + ], + [ + -3293.531, + -1789.769, + 168.15, + 0.0, + -20.724, + 0.0 + ], + [ + -3175.815, + -1834.307, + 168.15, + 0.0, + -20.724, + 0.0 + ], + [ + -3058.1, + -1878.844, + 168.15, + 0.0, + -20.724, + 0.0 + ], + [ + -3001.606, + -1924.934, + 168.15, + 0.0, + -20.724, + 0.0 + ], + [ + -3001.606, + -1924.934, + 168.15, + 0.0, + -20.724, + 0.0 + ], + [ + -3001.606, + -1924.934, + 168.15, + 0.0, + -20.724, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the middle of the empty garage bay I can see the white paneled side door set into the wall ahead of me, clearly separate from the large sectional garage door on the right. It is far too distant to reach its handle, so I will move forward to close the gap toward that side door.", + "The white side door now fills more of my view and stays centered slightly left of my heading, confirming I am tracking the correct target rather than the vehicle door. There is still several steps of bare floor before I would be within reach, so I will continue straight forward.", + "The door frame and its brass knob are now distinctly visible and well aligned with my facing direction, so no turn is needed. I am still short of arm's reach, so another forward step should bring me close enough to operate the handle.", + "The door panels and knob now dominate my view, meaning I am very close but perhaps a little off the ideal interaction distance. I will take one short forward step to settle directly in front of the door leaf before reaching for the handle.", + "I am now standing directly against the white side door with its panel surface and brass handle right in front of me, so it is well within reach. I will try the handle and push it open to pass through this side entrance rather than the large garage door.", + "The white side door now stands open, revealing the lit interior room beyond its threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003439_y-002032_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003439_y-002032_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd64c8252896eedae9373edbfa7222b204ab47ab --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003439_y-002032_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white paneled side door straight ahead inside the garage.", + "Type": 4, + "Start_Pose": [ + -3438.969, + -2031.805, + 168.15, + 0.0, + 2.236, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3438.969, + -2031.805, + 168.15, + 0.0, + 2.236, + 0.0 + ], + [ + -3313.206, + -2026.895, + 168.15, + 0.0, + 2.236, + -0.0 + ], + [ + -3187.443, + -2021.984, + 168.15, + 0.0, + 2.236, + -0.0 + ], + [ + -3061.679, + -2017.074, + 168.15, + 0.0, + 2.236, + -0.0 + ], + [ + -3061.679, + -2017.074, + 168.15, + 0.0, + 27.236, + -0.0 + ], + [ + -3001.567, + -1963.486, + 168.15, + 0.0, + 27.236, + -0.0 + ], + [ + -3001.567, + -1963.486, + 168.15, + 0.0, + 27.236, + -0.0 + ], + [ + -3001.567, + -1963.486, + 168.15, + 0.0, + 27.236, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From inside the garage I can see the white paneled side door set in the far wall ahead of me, slightly right of my heading. It is still several meters away, so I will move forward along the open concrete floor to close that distance.", + "The paneled door now fills more of my view, confirming I am heading toward the correct target. I am still too far to reach its handle, so I will continue advancing.", + "The door and its brass lever handle are clearly resolved just ahead of me, but I am not yet within arm's reach. One more forward step should bring me close enough to work the handle.", + "At this close range the door has drifted to the right side of my view, with blank wall taking up the left half. I will turn right so I am squared up on the door leaf and its handle before trying to open it.", + "The paneled door and its lever handle are now centered in front of me after the turn. I will step forward once more to be firmly within reach of the handle for the opening attempt.", + "I am right up against the white paneled door, with its surface filling my view at contact distance. This is the interaction range I need, so I will try to open it.", + "The paneled door now stands swung open, revealing the wood floored room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003463_y-001656_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003463_y-001656_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ea5a128ce69125cfb294c1ca91a9a1959027717 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003463_y-001656_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door directly ahead on the garage wall.", + "Type": 4, + "Start_Pose": [ + -3462.704, + -1656.293, + 168.15, + 0.0, + -42.99, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3462.704, + -1656.293, + 168.15, + 0.0, + -42.99, + 0.0 + ], + [ + -3370.642, + -1742.113, + 168.15, + 0.0, + -42.99, + 0.0 + ], + [ + -3278.579, + -1827.932, + 168.15, + 0.0, + -42.99, + 0.0 + ], + [ + -3278.579, + -1827.932, + 168.15, + 0.0, + -17.99, + 0.0 + ], + [ + -3158.873, + -1866.804, + 168.15, + 0.0, + -17.99, + 0.0 + ], + [ + -3039.168, + -1905.675, + 168.15, + 0.0, + -17.99, + 0.0 + ], + [ + -3039.168, + -1905.675, + 168.15, + 0.0, + -17.99, + 0.0 + ], + [ + -3001.615, + -1940.236, + 168.15, + 0.0, + -17.99, + 0.0 + ], + [ + -3001.615, + -1940.236, + 168.15, + 0.0, + -17.99, + 0.0 + ], + [ + -3001.615, + -1940.236, + 168.15, + 0.0, + -17.99, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door on the far garage wall is visible ahead but still well across the empty floor. The concrete between me and it is clear of obstacles, so I will move forward to close that distance.", + "The door now appears larger and its knob is becoming distinct, confirming I am closing on the right target. I am still too far to reach the handle, so I will continue forward.", + "From here the door sits off to the right of my heading, with the blank left wall filling much of my view. I will turn right to bring the door and its knob toward the center of my view before approaching further.", + "The door is now roughly centered ahead of me after the turn, with clear floor leading up to it. I will move forward along this heading to get within reach of the handle.", + "The door and its brass knob nearly fill my view, but I judge I am still slightly short of contact range for operating the handle. I will advance one more step to stand directly at the door before trying to open it.", + "The white paneled door now fills my view with its brass knob and lever clearly on the left side of the leaf, so I am squarely in front of the target. I will reach for the handle and try to open it from here.", + "My reach for the handle did not change the door, which still sits closed in front of me with the same panel and knob framing. I suspect I am still slightly too far back for the latch to be within grasp, so I will close the remaining gap with a small step forward.", + "After edging closer, the panel detail and the brass knob are right at the edge of my reach, indicating I am now at contact range with the latch. My earlier attempt from farther back left the door shut, so I will grasp the handle again from this tighter position and try to swing it open.", + "I can see the swung-open door leaf and the lit hallway beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003528_y001749_z000148_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003528_y001749_z000148_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79931d51af8a3c391ef1cb5112dd95346df543b1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003528_y001749_z000148_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the large tree trunk.", + "Type": 0, + "Start_Pose": [ + -3528.116, + 1749.062, + 148.15, + -0.051, + 148.98, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3528.116, + 1749.062, + 148.15, + -0.051, + 148.98, + 0.0 + ], + [ + -3635.976, + 1813.922, + 148.15, + -0.051, + 148.98, + -0.0 + ], + [ + -3743.835, + 1878.782, + 148.15, + -0.051, + 148.98, + -0.0 + ], + [ + -3851.695, + 1943.641, + 148.15, + -0.051, + 148.98, + -0.0 + ], + [ + -3851.695, + 1943.641, + 148.15, + -0.051, + 173.98, + 0.0 + ], + [ + -3976.859, + 1956.841, + 145.139, + -0.051, + 173.98, + 0.0 + ], + [ + -4102.024, + 1970.041, + 137.03, + -0.051, + 173.98, + 0.0 + ], + [ + -4102.024, + 1970.041, + 137.03, + -0.051, + 173.98, + 0.0 + ] + ], + "Rationale": [ + "The large tree trunk stands ahead of me near the middle of the lawn, slightly right of my heading, with open grass in between. I will move forward to start closing that distance since nothing blocks the direct path.", + "The trunk now appears thicker and its base is clearly visible on the grass, so my forward motion is closing distance as intended. I will keep moving forward along the same open lawn line.", + "The tree base is noticeably nearer and the bark texture is now distinct, but I still have a few steps of lawn to cover. I will continue forward to keep shortening the gap before fine tuning my heading.", + "The trunk has drifted to the right side of my view as I have approached, so walking straight ahead would carry me past it on its left. I will turn right to bring the trunk back toward the center of my heading.", + "The trunk now sits near the center of my view with its base on clear grass just ahead. I will move forward along this corrected heading to close the remaining distance.", + "The trunk fills much of the center of my view and its base is only a short step away on the grass. I will take one more forward step to stand right at the tree.", + "The large tree trunk fills the near foreground directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003528_y001749_z000148_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003528_y001749_z000148_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..279500c3c4214d036d367c3ecaf5f495ed4eda85 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003528_y001749_z000148_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the green bell pepper near the large tree trunk.", + "Type": 5, + "Start_Pose": [ + -3528.116, + 1749.062, + 148.15, + -0.051, + 148.98, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4135.376, + 2006.903, + 94.542, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3528.116, + 1749.062, + 148.15, + -0.051, + 148.98, + 0 + ], + [ + -3635.976, + 1813.922, + 148.15, + -0.051, + 148.98, + -0.0 + ], + [ + -3743.835, + 1878.782, + 148.15, + -0.051, + 148.98, + -0.0 + ], + [ + -3851.695, + 1943.641, + 148.15, + -0.051, + 148.98, + -0.0 + ], + [ + -3851.695, + 1943.641, + 148.15, + -0.051, + 173.98, + 0.0 + ], + [ + -3976.859, + 1956.841, + 145.139, + -0.051, + 173.98, + 0.0 + ], + [ + -3976.859, + 1956.841, + 145.139, + 0.0, + 173.98, + -0.0 + ], + [ + -3976.859, + 1956.841, + 145.139, + 0.0, + 173.98, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4135.376, + 2006.903, + 94.542, + 0.0, + 0.0, + 0.0 + ], + [ + -4135.376, + 2006.903, + 94.542, + 0.0, + 0.0, + 0.0 + ], + [ + -4135.376, + 2006.903, + 94.542, + 0.0, + 0.0, + 0.0 + ], + [ + -4135.376, + 2006.903, + 94.542, + 0.0, + 0.0, + 0.0 + ], + [ + -4135.376, + 2006.903, + 94.542, + 0.0, + 0.0, + 0.0 + ], + [ + -4135.376, + 2006.903, + 94.542, + 0.0, + 0.0, + 0.0 + ], + [ + -3978.492, + 1935.541, + 115.436, + -28.202, + -135.875, + 1.862 + ], + [ + -3978.492, + 1935.541, + 115.436, + -28.202, + -135.875, + 1.862 + ] + ], + "PD_Dist_2D": [ + 659.7, + 535.4, + 412.0, + 290.6, + 290.6, + 166.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits at the base of the large tree trunk ahead of me, but it is still small and far across the lawn. My path over the grass is clear, so I will walk forward to close that distance.", + "The pepper by the tree trunk has grown noticeably larger in front of me, confirming that walking straight is closing the gap. It remains well beyond arm's reach, so I will keep advancing along the same heading.", + "The bell pepper now reads clearly against the tree trunk, yet it is still several paces away and too distant to grasp. The lawn stays open, so I will step forward again to reach interaction range.", + "I am now close to the tree, but the pepper and trunk have drifted to the right of my centerline, so walking straight would carry me past them on the left. I will turn right to bring the pepper back to the middle of my view before closing in.", + "The pepper now sits near the center of my view at the base of the trunk, so my heading lines up with it. It is still a stride or so short of reach, so I will step forward to stand right over it.", + "The green bell pepper fills the lower part of my view directly in front of me at the foot of the trunk, close enough that nothing separates us. My hands are empty, so I will attempt to pick it up now.", + "The green bell pepper is now held in my hands and no longer resting on the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..46409e9f20bb9b0c413e129e1612925146f3e6ed --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the trash bin.", + "Type": 0, + "Start_Pose": [ + -3725.891, + 363.38, + 98.15, + -0.051, + -99.906, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3725.891, + 363.38, + 98.15, + -0.051, + -99.906, + 0.0 + ], + [ + -3747.543, + 239.397, + 98.15, + -0.051, + -99.906, + -0.0 + ], + [ + -3747.543, + 239.397, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3714.769, + 117.881, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3681.995, + -3.636, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3649.221, + -125.153, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3616.446, + -246.67, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3616.446, + -246.67, + 98.15, + -0.051, + -74.906, + 0.0 + ] + ], + "Rationale": [ + "I can see the target trash bin standing at the curb by the driveway of the house ahead and to my right, past the yellow road-closed barricades on the pavement. My heading is roughly along the street, so a straight step forward closes distance without crowding the barricades. I will move forward to bring the bin nearer and get a clearer line to it.", + "The trash bin now sits noticeably to the right of my straight-ahead direction, so continuing forward would carry me past it along the street. A small turn to the right should swing my heading onto the bin and the driveway behind it. I will turn right to line up before advancing again.", + "After the turn the trash bin sits close to the center of my view, in front of the garage driveway, with clear road between us. Nothing blocks that straight line, so stepping forward should shrink the gap. I will move forward along this heading.", + "The bin has grown larger and stays centered slightly left of my heading, confirming I am closing on it correctly. I am still out in the roadway, well short of the curb where it stands. I will keep moving forward to reduce the remaining distance.", + "The trash bin now fills a good part of the lower middle of my view, but the curb it rests on is still ahead of me. My heading remains aimed at it, so another forward step should bring me close enough to count as arrived. I will advance again.", + "The bin is now close in front of me, its lid clearly visible and the curb almost at my feet. One more short step should place me right beside it rather than a stride away. I will move forward to finish closing that last bit of distance.", + "The trash bin is directly in front of me, filling the lower part of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7123a394b814402b4a38f91ffa699da49bf01d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003726_y000363_z000098_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato near the trash bin.", + "Type": 5, + "Start_Pose": [ + -3725.891, + 363.38, + 98.15, + -0.051, + -99.906, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3569.22, + -223.297, + 62.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3725.891, + 363.38, + 98.15, + -0.051, + -99.906, + 0 + ], + [ + -3725.891, + 363.38, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3693.117, + 241.863, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3660.343, + 120.346, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3627.569, + -1.17, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3594.795, + -122.687, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3594.795, + -122.687, + 98.15, + -0.051, + -74.906, + 0.0 + ], + [ + -3594.795, + -122.687, + 98.15, + 0.0, + -74.906, + 0.0 + ], + [ + -3594.795, + -122.687, + 98.15, + 0.0, + -74.906, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3569.22, + -223.297, + 62.15, + 0.0, + 0.0, + 0.0 + ], + [ + -3574.336, + -116.538, + 68.256, + -28.202, + -24.762, + 1.862 + ], + [ + -3574.336, + -116.538, + 68.256, + -28.202, + -24.762, + 1.862 + ] + ], + "PD_Dist_2D": [ + 607.2, + 607.2, + 481.4, + 355.5, + 229.7, + 103.8, + 103.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits on the road beside the grey trash bin, but it lies well right of my current heading, past the barricades ahead of me. I will turn right so the tomato and the bin move toward the middle of my view. That should give me a clean straight approach line.", + "The tomato and the trash bin now sit near the center of my view, so my heading is good. They are still far off across the street, much too distant to reach. I will walk forward to close that gap.", + "The tomato has grown slightly larger and stays centered ahead of me beside the bin, confirming my line of travel is correct. Open pavement lies between us with nothing blocking the way. I will keep walking forward.", + "The tomato is noticeably bigger now and the trash bin behind it shows more detail, so I am steadily closing in. It is still several paces away, beyond arm's reach. I will continue straight ahead toward it.", + "The tomato now fills a good part of the lower view, sitting just in front of the bin at the curb. It is close but likely still short of grasping range. One more step forward should put it right at my feet.", + "I am right at the curb beside the trash bin, yet the tomato has dropped out of sight below my forward gaze. Looking down should bring it back into view directly in front of me so I can judge the grasp.", + "The tomato now fills the near foreground on the pavement just in front of my feet, with the trash bin right beside it. Nothing stands between us and my hands are empty. I will attempt to pick it up.", + "The tomato is now held in my hands rather than resting on the road. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003810_y002307_z000148_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003810_y002307_z000148_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0dcdedc07dceefd969e00a43c5af77efb6499bf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003810_y002307_z000148_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the corner where the house wall meets the white wooden fence.", + "Type": 0, + "Start_Pose": [ + -3809.95, + 2306.756, + 148.151, + -0.051, + -22.483, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3809.95, + 2306.756, + 148.151, + -0.051, + -22.483, + 0.0 + ], + [ + -3693.657, + 2258.626, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -3577.364, + 2210.497, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -3461.072, + 2162.367, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -3344.779, + 2114.238, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -3228.486, + 2066.108, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -3112.193, + 2017.978, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -2995.9, + 1969.849, + 148.151, + -0.051, + -22.483, + -0.0 + ], + [ + -2995.9, + 1969.849, + 148.151, + -0.051, + -47.483, + -0.0 + ], + [ + -2910.844, + 1877.081, + 148.151, + -0.051, + -47.483, + -0.0 + ], + [ + -2842.198, + 1784.717, + 148.15, + -0.051, + -47.483, + -0.0 + ], + [ + -2842.198, + 1784.717, + 148.15, + -0.051, + -47.483, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the pale clapboard house wall ahead and the white wooden fence running along my left, so the corner I want is where those two surfaces meet in the left-forward part of the yard. The lawn between me and that junction is open and clear, so I will move forward to start closing the distance.", + "The siding and the window on the house wall have grown larger, confirming that my heading is carrying me toward the building. The fence line on my left still converges with the wall further ahead, so continuing straight is the efficient way to reach that junction.", + "The house wall now occupies most of the right half of my view and its concrete base is clearly visible, so I am noticeably closer than before. Nothing blocks the grass ahead, so I keep advancing toward the meeting point of wall and fence.", + "The siding boards are resolving into individual lines and the window frame is much wider, which tells me the wall is close but the corner with the fence is still off to my left. I will move forward again to shorten the remaining distance before adjusting my heading.", + "I can now see through the window into the interior, so I am only a short way from the house wall itself. The fence panels on my left have also drawn nearer, so another step forward should bring me closer to where the two surfaces join.", + "The wall now dominates my view and the strip of lawn in front of me has narrowed considerably, so I am nearly alongside the building. I will step forward once more, since the fence corner still lies ahead on my left rather than beside me.", + "Only a thin sliver of fence remains at the left edge while the siding fills nearly the whole view, meaning the junction of wall and fence is just ahead and slightly to my left. I will advance again to bring that corner within reach before turning toward it.", + "The house wall is now filling my view head-on while the white fence is squeezed into the far left margin, so I cannot see the junction I need to reach. Turning left should swing my heading toward that fence-and-wall corner and bring it into the center of my view for a final straight approach.", + "After swinging left, the junction where the siding meets the white wooden fence now sits near the middle of my view with open lawn in front of it. The corner is still a couple of body lengths away, so I will push forward along this heading to close that gap.", + "The corner post between the siding and the fence boards is much closer now, filling the left half of my view, but there is still a little grass showing at the base ahead. I will advance once more to settle right into the junction.", + "The house siding and the white fence post meet directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003945_y000161_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003945_y000161_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..198e9a5856322c229589527cdb7bd5b26f9b0280 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003945_y000161_z000098_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go toward the streetlamp next to the red car.", + "Type": 0, + "Start_Pose": [ + -3945.19, + 161.198, + 98.15, + -0.051, + -128.483, + 0.0 + ], + "Action": [ + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3945.19, + 161.198, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -3945.19, + 161.198, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -4023.51, + 62.677, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -4101.83, + -35.845, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -4180.149, + -134.366, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -4258.469, + -232.888, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -4336.789, + -331.409, + 98.15, + -0.051, + -128.483, + 0.0 + ], + [ + -4336.789, + -331.409, + 98.15, + -0.051, + -153.483, + 0.0 + ], + [ + -4449.408, + -387.601, + 107.795, + -0.051, + -153.483, + 0.0 + ], + [ + -4562.027, + -443.792, + 115.145, + -0.051, + -153.483, + 0.0 + ], + [ + -4562.027, + -443.792, + 115.145, + -0.051, + -153.483, + 0.0 + ] + ], + "Rationale": [ + "I can see a red car parked ahead on the far side of the street, and a pole rising just behind it, but the view is cut off near the top so I cannot confirm the lamp head. I will look up to bring the upper part of that pole into view and verify it is the streetlamp beside the red car.", + "The raised view now shows the lit lamp head on top of the pole standing right next to the red car, so the target is confirmed. I will move forward along the road to begin closing the fairly large gap.", + "The lamp post and the red car are still ahead and slightly right of my heading, and both look larger than before, so my heading is usable. I will keep moving forward to close more of the remaining distance.", + "The pole now runs vertically through the upper middle of my view with the red car parked at its base, confirming steady progress toward the correct lamp. Nothing blocks the roadway in front of me, so I will continue forward.", + "The curb, grass strip, and the red car are noticeably closer, and the lamp post is still slightly left of my straight path. I will advance again to shorten the distance before making any heading adjustment.", + "The red car now occupies much of the left portion of my view and the lamp post is just beyond the near curb, so I am close but not yet beside it. I will take another step forward toward the base of the post.", + "The lamp post has drifted toward the left edge of my view while bushes and grass fill the right side, so my heading is now offset from the target. I will turn left to bring the post and the adjacent red car back to the center of my view before continuing.", + "After the turn the lamp post stands upright near the center of my view with the red car directly beside it, so my heading is aligned with the target. I will move forward to close the last short stretch toward the post.", + "The streetlamp pole now stands centered in my view with the red car parked right beside it, so my heading is well aligned on the target. There is still a short gap of open grass and curb between me and the base of the pole, so I will step forward once more to close that remaining distance.", + "The streetlamp pole fills the center of my view at arm's length, with the red car immediately beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003980_y-000698_z000115_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003980_y-000698_z000115_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdb1f2ada10c7808e7d0cabb6aa772e1c7fd352 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003980_y-000698_z000115_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Grab the green bell pepper near the street lamp.", + "Type": 5, + "Start_Pose": [ + -3980.245, + -698.225, + 115.46, + -0.498, + 174.417, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4632.927, + -634.493, + 70.46, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3980.245, + -698.225, + 115.46, + -0.498, + 174.417, + 0 + ], + [ + -4105.502, + -685.981, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4230.759, + -673.737, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4356.016, + -661.493, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4481.274, + -649.249, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4481.274, + -649.249, + 115.46, + 0.0, + 174.417, + -0.0 + ], + [ + -4481.274, + -649.249, + 115.46, + 0.0, + 174.417, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4632.927, + -634.493, + 70.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4632.927, + -634.493, + 70.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4632.927, + -634.493, + 70.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4632.927, + -634.493, + 70.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4632.927, + -634.493, + 70.46, + 0.0, + 0.0, + 0.0 + ], + [ + -4482.744, + -670.561, + 85.567, + -28.202, + -135.438, + 1.862 + ], + [ + -4482.744, + -670.561, + 85.567, + -28.202, + -135.438, + 1.862 + ] + ], + "PD_Dist_2D": [ + 655.8, + 529.9, + 404.1, + 278.2, + 152.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits far ahead at the base of the street lamp pole, in front of the parked red car. It is centered on my heading, so no turn is needed yet. I will walk straight forward to close the large gap.", + "The pepper and the lamp pole beside it now appear noticeably larger, confirming my straight path is closing distance. I am still too far away to reach the pepper. I will keep walking forward along the same heading.", + "The pepper is now clearly resolved against the curb near the lamp pole, but it remains several paces off, below comfortable grasp range. My heading still points straight at it, so no correction is needed. I will advance again.", + "The pepper now fills a large part of the lower view at the grass edge by the lamp pole, yet it is still a step short of arm's reach. One more forward step should place me directly over it for a grasp. I will move forward.", + "The green bell pepper is directly in front of me at the base of the street lamp, filling the lower view within arm's reach. Nothing blocks my hands and no further approach is needed. I will attempt to pick it up now.", + "The green bell pepper is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004005_y001809_z000143_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004005_y001809_z000143_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d204112c791b5d7e5163acabb9ffc53055e24738 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004005_y001809_z000143_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the corner where the house wall meets the ivy-covered hedge.", + "Type": 0, + "Start_Pose": [ + -4004.965, + 1808.653, + 143.465, + -0.051, + 34.671, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4004.965, + 1808.653, + 143.465, + -0.051, + 34.671, + 0.0 + ], + [ + -3901.455, + 1880.25, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -3797.944, + 1951.846, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -3694.434, + 2023.443, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -3590.923, + 2095.039, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -3590.923, + 2095.039, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3466.853, + 2116.182, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3342.783, + 2137.325, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3218.712, + 2158.468, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3094.642, + 2179.612, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3094.642, + 2179.612, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -2991.132, + 2251.208, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -2887.894, + 2310.431, + 148.15, + -0.051, + 34.671, + -0.0 + ], + [ + -2887.894, + 2310.431, + 148.15, + -0.051, + 34.671, + -0.0 + ] + ], + "Rationale": [ + "From the open lawn I can see the pale siding of the house on my left and the tall ivy-covered hedge running to my right, and the seam where they meet sits ahead of me near the middle of my view. Since that junction is my target and nothing blocks the grass in between, I will move forward to start closing the distance.", + "The hedge and the house wall now loom noticeably larger, confirming that my heading is carrying me toward the point where the two surfaces join. The lawn ahead is still clear, so I will keep moving forward to shorten the remaining gap.", + "The ivy hedge now dominates the right half of my view and the corner it forms with the house wall is clearly ahead and a little to my left. I am still several body lengths short of that corner, so I will advance again.", + "Detail in the ivy leaves and the siding boards is becoming sharp, which tells me I am getting close to the junction of the two surfaces. There is still open grass between me and that corner, so another forward step is the direct way to continue.", + "The ivy hedge has swelled across most of my view and the corner where it meets the house wall has slipped toward the left edge, so I am no longer pointed straight at my goal. I will turn left to bring that wall-and-hedge junction back toward the center of my heading before continuing.", + "After the turn the gable end of the house and the ivy hedge are both framed ahead, with their meeting line roughly in front of me. With the heading corrected and clear lawn between, I will move forward to keep closing on the corner.", + "The window on the siding and the leaf texture of the hedge are both much larger now, so my corrected heading is taking me toward their shared corner. I will advance again since a stretch of grass still separates me from that junction.", + "I am now close enough that the siding fills the left of my view and the ivy fills the right, with only a narrow band of lawn left before the corner where they meet. I will step forward once more to press in toward that junction.", + "The pale siding fills the left of my view and the ivy hedge rises on the right, with their junction just right of center and still a couple of body lengths ahead. My heading already points into that gap, so I will move forward again to close the remaining distance to the corner.", + "Now that I am close, the siding dominates most of my view and the ivy hedge is pushed to the right edge, so the corner where they meet sits off to my right rather than ahead. I will turn right to bring that junction back toward the center of my view for a straight final approach.", + "After the turn, the vertical seam where the siding meets the ivy hedge sits near the middle of my view with only a narrow patch of grass left in front of it. My heading is aligned with that corner, so moving forward should bring me right up to it.", + "The siding boards and the ivy leaves now fill my entire view on either side of the corner seam, with barely a sliver of grass at the bottom. One more short step forward should place me directly in the corner pocket where the two surfaces meet.", + "I am pressed into the junction where the house siding meets the ivy-covered hedge, both filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004005_y001809_z000143_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004005_y001809_z000143_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3331a59017061d7982a402aabe233a9efb4c966 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004005_y001809_z000143_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the small window on the side wall of the white house.", + "Type": 0, + "Start_Pose": [ + -4004.965, + 1808.653, + 143.465, + -0.051, + 34.671, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4004.965, + 1808.653, + 143.465, + -0.051, + 34.671, + 0.0 + ], + [ + -3901.455, + 1880.25, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -3797.944, + 1951.846, + 148.267, + -0.051, + 34.671, + -0.0 + ], + [ + -3797.944, + 1951.846, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3673.874, + 1972.989, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3549.804, + 1994.132, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3425.733, + 2015.275, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3301.663, + 2036.418, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3177.593, + 2057.562, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -3053.522, + 2078.705, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -2929.452, + 2099.848, + 148.267, + -0.051, + 9.671, + -0.0 + ], + [ + -2929.452, + 2099.848, + 148.267, + -0.051, + 9.671, + -0.0 + ] + ], + "Rationale": [ + "I can see the white house's gabled side wall on my left with a single small window set into the clapboard, which matches the target described in the task. My heading points across the open lawn toward the corner where the wall meets the tall hedge, so a step forward should reduce the distance to that side wall before I refine my heading.", + "The small window on the house's side wall now appears slightly larger and lower in my view, confirming the previous step carried me closer to it. The lawn directly ahead is still clear, so I will continue forward to keep closing the gap toward the wall.", + "My current heading is aimed mostly at the ivy-covered hedge, while the target window sits well off to the left on the white side wall. I will turn left so the window moves toward the center of my view and my forward path leads straight at it.", + "The turn worked, and the white gable wall with its small window now sits squarely in front of me with the hedge pushed to my right edge. The grass between me and that wall is open, so I will move forward along this heading to close the remaining distance.", + "The small window is holding near the center of my view and its frame is noticeably bigger than a moment ago, so my heading is still good. I will take another forward step to keep shrinking the gap to the side wall.", + "I can now make out the pale interior and a lit ceiling fixture through the small window, which means I am getting close to the wall. Nothing blocks the lawn ahead, so I will continue straight toward the window.", + "The clapboard wall now dominates my view and the small window's frame and interior door are clearly resolved, but I am still a few steps short of standing at it. I will move forward again to bring myself right up to the window.", + "The window is centered and large, with its trim and the room behind it plainly visible, yet a short stretch of lawn and the wall's concrete base still lie between me and it. I will step forward once more to close that last bit of distance.", + "The small window on the white clapboard side wall now fills the middle of my view with its interior clearly visible, so my heading is still centered on the target. There is open lawn between me and the wall base, so I will move forward again to keep closing that remaining gap.", + "The window frame has grown much larger and sits just left of center, with the room's lamp and door visible through the glass, confirming I am nearly at the wall. A short stretch of lawn is still in front of me, so I will advance once more to reach a close standing position at the window.", + "The small side-wall window fills my view at arm's length, its frame and interior plainly visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004049_y001709_z000140_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004049_y001709_z000140_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c8bfe751dc649a6d3c18075cb74ed0fb981dc52 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004049_y001709_z000140_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the corner where the ivy-covered hedge meets the white wooden fence.", + "Type": 0, + "Start_Pose": [ + -4049.377, + 1708.559, + 140.483, + -0.051, + 63.248, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4049.377, + 1708.559, + 140.483, + -0.051, + 63.248, + 0.0 + ], + [ + -3998.415, + 1821.69, + 143.645, + -0.051, + 63.248, + -0.0 + ], + [ + -3941.763, + 1934.077, + 147.315, + -0.051, + 63.248, + -0.0 + ], + [ + -3885.11, + 2046.465, + 147.91, + -0.051, + 63.248, + -0.0 + ], + [ + -3828.457, + 2158.852, + 147.91, + -0.051, + 63.248, + -0.0 + ], + [ + -3828.457, + 2158.852, + 147.91, + -0.051, + 38.248, + -0.0 + ], + [ + -3729.615, + 2236.767, + 147.91, + -0.051, + 38.248, + -0.0 + ], + [ + -3729.615, + 2236.767, + 147.91, + -0.051, + 63.248, + -0.0 + ], + [ + -3672.962, + 2349.155, + 147.91, + -0.051, + 63.248, + -0.0 + ], + [ + -3672.962, + 2349.155, + 147.91, + -0.051, + 63.248, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the ivy-covered hedge standing to my left and the long white wooden fence running away to my right, and the seam where they meet sits ahead of me across the lawn. The corner is still far off, so I will move forward over the open grass to start closing that distance.", + "The hedge and the fence now fill more of my view, which tells me my heading is carrying me toward the point where they join. There is still clear grass in front of me, so I will continue straight ahead.", + "The ivy leaves are resolving into individual leaves and the fence boards are clearly separated, so I am steadily closing on the junction of the two. The path ahead is still open grass, so another step forward should bring me nearer the corner.", + "The hedge wall and the fence now dominate the left and right of my view, but the meeting point is still several steps away. I will push forward again to keep shrinking that gap before I fine tune my heading.", + "I am close now, but the hedge crowds my view and the point where its end abuts the fence sits left of my facing direction rather than in front of me. I will turn left to bring that meeting point toward the center of my view before advancing further.", + "With the turn done, the hedge face and the fence line are both open in front of me and the corner between them is visible ahead. I will step forward along this heading to close the remaining distance to that corner.", + "From this close position the hedge fills most of my view and the exact seam where its end meets the fence has drifted to my right. I will turn right so that corner is centered ahead of me for a final short approach.", + "The corner where the ivy edge meets the white boards is now centered just ahead of me. I will take one more short step forward to stand right at that junction.", + "The white fence boards fill my view with the ivy hedge edge touching them at my left. I am in that corner, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004050_y-000691_z000115_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004050_y-000691_z000115_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf6928c49c9113e2668fa13f5e4da18a59a1d54 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004050_y-000691_z000115_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the red car.", + "Type": 0, + "Start_Pose": [ + -4050.481, + -691.359, + 115.46, + -0.498, + 174.417, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4050.481, + -691.359, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4175.738, + -679.115, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4300.995, + -666.871, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4426.252, + -654.627, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4551.509, + -642.383, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4676.767, + -630.139, + 122.305, + -0.498, + 174.417, + -0.0 + ], + [ + -4788.419, + -613.915, + 115.828, + -0.498, + 174.417, + -0.0 + ], + [ + -4788.419, + -613.915, + 115.828, + -0.498, + 174.417, + -0.0 + ] + ], + "Rationale": [ + "The red car is parked at the curb straight ahead of me, roughly centered beyond the walkway and the low bushes. My heading already points at it, so I will move forward along the paved path to begin closing the gap.", + "The red car now appears larger and still sits ahead slightly right of center, so my heading remains usable. I will continue forward along the walkway to keep reducing the distance.", + "The car now fills much of the right half of my view and its side profile is clearly visible across the near lane. I am still some distance from the curb, so another forward step should bring me closer.", + "The red car dominates the view ahead and to the right, with only the grass strip and curb left between us. I will step forward again to reach a position right at the vehicle.", + "The car's hood and windshield now loom large in the lower right of my view, so I am nearly at its side. One more forward move should place me directly beside the vehicle.", + "The red bodywork now spans the bottom of my view at very close range, which means I am essentially at the car. I will take a final short forward step to settle right at its side before considering the task done.", + "The red car's body fills the near foreground directly in front of me at arm's length. The task is complete, so I stop here rather than push past the target." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004092_y000061_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004092_y000061_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7006586c035d1c724f1d57ded924b5e589f0ad --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004092_y000061_z000098_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the red car.", + "Type": 0, + "Start_Pose": [ + -4091.581, + 61.382, + 98.15, + -0.051, + -153.93, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4091.581, + 61.382, + 98.15, + -0.051, + -153.93, + -0.0 + ], + [ + -4204.635, + 6.071, + 98.15, + -0.051, + -153.93, + -0.0 + ], + [ + -4317.689, + -49.24, + 98.15, + -0.051, + -153.93, + -0.0 + ], + [ + -4430.742, + -104.551, + 98.15, + -0.051, + -153.93, + -0.0 + ], + [ + -4430.742, + -104.551, + 98.15, + -0.051, + -128.93, + -0.0 + ], + [ + -4509.828, + -202.459, + 98.15, + -0.051, + -128.93, + -0.0 + ], + [ + -4588.914, + -300.366, + 98.15, + -0.051, + -128.93, + -0.0 + ], + [ + -4668.001, + -398.274, + 110.886, + -0.051, + -128.93, + -0.0 + ], + [ + -4747.087, + -496.181, + 120.295, + -0.051, + -128.93, + -0.0 + ], + [ + -4747.087, + -496.181, + 120.295, + -0.051, + -128.93, + -0.0 + ] + ], + "Rationale": [ + "The red car is parked along the far curb ahead and slightly to my right, clearly distinguishable from the pale houses and trees behind it. My heading down the open street already points generally toward it, so I will step forward to begin closing the gap.", + "The red car now appears slightly larger and its wheels and grille are easier to make out, so my forward motion is reducing the distance. Nothing blocks the pavement in front of me, so I will keep advancing along the same heading.", + "The car's front bumper and side panels are becoming distinct as it grows in my view, confirming steady progress toward it. It still sits at a comfortable distance, so I will take another step forward before adjusting my heading.", + "The red car has drifted toward the right side of my view as I closed in, so walking straight ahead would carry me past it on its left. I will turn right to bring the car back toward the center of my view and line up my heading with it.", + "After the rotation the red car sits near the middle of my view with the curb and grass strip on my right, so my heading is now usable for a direct approach. The roadway between us is clear, so I will advance toward it.", + "The car's front end and wheel arches now fill a noticeably larger part of my view, so the gap is shrinking as expected. I am still several steps short of standing beside it, so I will keep moving forward.", + "The red car is close enough now that its grille, headlight, and tire tread are clearly resolved just left of the utility pole ahead of me. A little more distance remains before I am right at it, so I will step forward again.", + "The red car now dominates the lower portion of my view, with its hood and side mirror only a short step away. I will take one more step forward to finish closing on it and stand directly at the vehicle.", + "The red car fills the near foreground of my view, an arm's length from me. I am at the target, so the task is complete and stopping here is correct." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004472_y000600_z000117_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004472_y000600_z000117_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..389f99eaba3c9028a7e3cae8899a1238d4b9500a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004472_y000600_z000117_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the large tree on the right side.", + "Type": 2, + "Start_Pose": [ + -4471.552, + 600.049, + 116.532, + -0.051, + 91.375, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4471.552, + 600.049, + 116.532, + -0.051, + 91.375, + -0.0 + ], + [ + -4474.572, + 725.872, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4477.592, + 851.694, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4477.592, + 851.694, + 115.218, + -0.051, + 116.375, + -0.0 + ], + [ + -4533.504, + 964.452, + 115.218, + -0.051, + 116.375, + -0.0 + ], + [ + -4589.416, + 1077.21, + 115.218, + -0.051, + 116.375, + -0.0 + ], + [ + -4645.328, + 1189.968, + 119.352, + -0.051, + 116.375, + -0.0 + ], + [ + -4645.328, + 1189.968, + 119.352, + -0.051, + 116.375, + -0.0 + ] + ], + "Rationale": [ + "Two big trees flank the front walk, and the one I want is the thick pale trunk standing on the right edge of the path beside the road, not the leafier one over the left lawn. It is still well ahead of me, so I will walk forward along the concrete toward it.", + "The pale trunk by the curb has grown noticeably wider in my view, confirming I am closing on it. There is clear sidewalk ahead and no obstruction, so I will keep walking forward.", + "The tree I am heading for sits off to the right of my current heading, near the strip of grass between the sidewalk and the road, so walking straight would carry me past it. I will turn right to put that trunk closer to the center of my view before advancing again.", + "After the turn the broad trunk by the curb is now roughly ahead of me with open grass and sidewalk in between. I will step forward along this heading to shorten the remaining distance.", + "The trunk now dominates the middle of my view and its base and root ring are clearly visible, so I am close but not yet beside it. I will continue forward to reach it.", + "The bark texture is already resolvable and the trunk fills much of the frame, but a short stretch of grass still separates me from its base. One more step forward should bring me right up to the tree.", + "The wide bark of the roadside tree fills my view at arm's length. I have arrived at it, so the task is complete and no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004472_y000600_z000117_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004472_y000600_z000117_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..641ad5c4d3ca4a2a71554117ef3c09f6c497be0c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004472_y000600_z000117_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the large tree on the left side.", + "Type": 2, + "Start_Pose": [ + -4471.552, + 600.049, + 116.532, + -0.051, + 91.375, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4471.552, + 600.049, + 116.532, + -0.051, + 91.375, + -0.0 + ], + [ + -4474.572, + 725.872, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4477.592, + 851.694, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4480.612, + 977.517, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4483.632, + 1103.34, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4486.652, + 1229.163, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4489.672, + 1354.985, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4492.693, + 1480.808, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4495.713, + 1606.631, + 115.218, + -0.051, + 91.375, + -0.0 + ], + [ + -4495.713, + 1606.631, + 115.218, + -0.051, + 66.375, + -0.0 + ], + [ + -4445.275, + 1721.941, + 113.347, + -0.051, + 66.375, + -0.0 + ], + [ + -4394.837, + 1837.252, + 118.046, + -0.051, + 66.375, + -0.0 + ], + [ + -4344.399, + 1952.562, + 121.313, + -0.051, + 66.375, + -0.0 + ], + [ + -4344.399, + 1952.562, + 121.313, + -0.051, + 66.375, + -0.0 + ] + ], + "Rationale": [ + "Two big trees flank this walkway: one rises from the lawn on my left near the fence, the other stands at the roadside edge on my right. The one on the left lawn is my target, so I fix on that fence-side trunk. I will walk straight ahead along the path to close the distance.", + "The fence-side tree on the lawn is still well ahead of me, its trunk slim at this range. The straight walkway continues toward it with nothing blocking my way. I will keep stepping forward.", + "The lawn tree by the fence has grown noticeably larger in my view, so the forward steps are closing the gap. The roadside trunk on my right is passing by and is not what I want. I will continue walking ahead.", + "My target trunk on the lawn is now clearly to the left of the walkway and closer. The roadside trunk is sliding off my right edge as I pass it. I will press forward along the path.", + "The roadside tree has dropped out of my view entirely, leaving only the lawn tree I am heading for standing left of the path. Its trunk and canopy fill much more of my upper left now. I will keep advancing toward it.", + "The tree I am walking to rises just left of the walkway, its base on the grass and its canopy overhead. I am not yet level with it, so more forward distance is needed. I will step ahead again.", + "The trunk now stands thick and near on my left, with its exposed roots showing at the grass. A little more forward travel should bring me alongside it. I will continue walking.", + "The tree is very close on my left, its trunk cutting across the near edge of my view and its canopy overhead. Stepping forward once more should put me essentially beside its base before I face it. I will advance.", + "The trunk has slipped to the very edge of my view on the left, so continuing straight along the walkway would carry me past it rather than to it. A modest swing to the left should place the lawn tree back in the middle of my view and aim me across the grass at its base.", + "The tree now stands squarely in front of me, its trunk rising from the grass with the fence running behind it. Open lawn lies between us with nothing in the way, and I am still a few paces short of its base. I will walk straight at it.", + "The trunk has widened and its root flare at the grass is clearer, confirming I am closing on it head on. I am still short of standing at its base. Another step ahead should tighten that gap.", + "The trunk now dominates the middle of my view, its bark coarse and its base flaring into the turf just ahead of me. One more step should put me right against the tree. I will advance.", + "The lawn tree's trunk fills the near left of my view at arm's reach, every bark ridge distinct. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004474_y000686_z000115_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004474_y000686_z000115_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db7db7b2c2b1da5c4a25c052937718f6a47bf748 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004474_y000686_z000115_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the large tree beside the green bush.", + "Type": 0, + "Start_Pose": [ + -4473.609, + 685.769, + 115.46, + -0.051, + 91.375, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4473.609, + 685.769, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4473.609, + 685.769, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4529.521, + 798.527, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4585.433, + 911.284, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4641.345, + 1024.042, + 118.884, + -0.051, + 116.375, + -0.0 + ], + [ + -4641.345, + 1024.042, + 118.884, + -0.051, + 91.375, + -0.0 + ], + [ + -4644.365, + 1149.865, + 119.175, + -0.051, + 91.375, + -0.0 + ], + [ + -4644.365, + 1149.865, + 119.175, + -0.051, + 91.375, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot on the lawn, the large tree with the leafy green bush at its base sits off to my right, near where the walkway meets the road. My current heading points straight down the path toward the house instead, so I will turn right to bring that tree and bush pair into the center of my view.", + "The turn has put the tall tree and the green bush beside it roughly ahead of me, with the sidewalk running in the same direction. I will move forward along the grass strip to start closing the remaining distance to that tree.", + "The trunk of the target tree is noticeably wider and the green bush beside it has grown large in my view, so my heading is still good. I will keep moving forward to shorten the gap further.", + "The tree is clearly the nearest large trunk ahead, rising past the top of my view with the bush at the edge of the grass strip. There is still a few steps of clear lawn between us, so I will advance again.", + "Now that I am close, the trunk has drifted toward the left side of my view while the road fills the right, so I am no longer squarely facing the tree. I will turn left to bring the trunk back to the center of my view before the last step.", + "The large trunk is now centered directly ahead of me with the hedge and greenery along the yard to my left. One more short step forward should place me right beside the tree.", + "The large tree's trunk now fills the view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6754386d2ddc52b2389b57110a57096b6bf888c5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "First, walk to the large tree on the right, then go to the large tree on the left.", + "Type": 3, + "Start_Pose": [ + -4476.996, + 826.875, + 115.46, + -0.051, + 91.375, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4476.996, + 826.875, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4476.996, + 826.875, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4532.908, + 939.633, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4588.82, + 1052.391, + 115.46, + -0.051, + 116.375, + -0.0 + ], + [ + -4644.732, + 1165.148, + 119.103, + -0.051, + 116.375, + -0.0 + ], + [ + -4644.732, + 1165.148, + 119.103, + -0.051, + 116.375, + -0.0 + ], + [ + -4644.732, + 1165.148, + 119.103, + -0.051, + 91.375, + -0.0 + ], + [ + -4644.732, + 1165.148, + 119.103, + -0.051, + 66.375, + -0.0 + ], + [ + -4594.295, + 1280.459, + 115.46, + -0.051, + 66.375, + -0.0 + ], + [ + -4543.857, + 1395.769, + 115.46, + -0.051, + 66.375, + -0.0 + ], + [ + -4493.419, + 1511.08, + 115.46, + -0.051, + 66.375, + -0.0 + ], + [ + -4442.981, + 1626.39, + 113.606, + -0.051, + 66.375, + -0.0 + ], + [ + -4392.543, + 1741.701, + 118.106, + -0.051, + 66.375, + -0.0 + ], + [ + -4342.105, + 1857.011, + 121.373, + -0.051, + 66.375, + -0.0 + ], + [ + -4342.105, + 1857.011, + 121.373, + -0.051, + 66.375, + -0.0 + ] + ], + "Rationale": [ + "Two big trees stand ahead, one rising over the grass strip by the road on my right and another beside the walkway to my left. I need the right-hand one first, and it sits well off my current heading. I will turn right to put that thick trunk near the center of my view.", + "The heavy roadside trunk now stands close to the middle of my view with open grass and pavement between us. Nothing blocks the line toward it. I will walk forward to close that gap.", + "The roadside trunk has grown noticeably wider and its canopy now runs off the top of my view, so I am gaining on it. The path along the grass beside the street stays open. I will keep walking straight toward it.", + "The big trunk now dominates the center of my view, with its roots and the surrounding grass clearly visible just ahead. A little more distance remains before I am actually beside it. I will step forward again.", + "The bark of the big roadside tree now fills the whole height of my view, close enough to touch. I am standing at the large tree on the right. I mark reaching it and turn my attention to the large tree over on the left side of the walkway.", + "I am right against the roadside trunk, and the other big tree is off to my left across the walkway. Facing this bark leaves me no usable line toward it. I will turn left to swing my view toward that tree over the lawn.", + "The tall tree on the lawn beyond the walkway has come into view, but it sits far to the left edge while the near bark still crowds the right of my sight. One more turn should bring that tree toward the center of my heading. I will turn left again.", + "The large tree by the fence now stands near the middle of my view with open lawn and sidewalk running toward it. My heading is good and nothing stands in the way. I will walk forward to close on it.", + "The tall tree standing on the grass beside the walkway is centered ahead of me and its trunk is still slim at this range. My heading along the open lawn is clear of the fence and hedge, so I will keep walking straight to close the gap.", + "The trunk ahead has thickened and its canopy now fills more of the upper view, confirming I am gaining ground on it. Nothing blocks the grass strip between me and its base, so I will step forward again.", + "The tree's base and the bare soil around its roots are clearly visible slightly left of my heading, and the crown has spread beyond the top of my view. I am still several paces short of it, so I keep advancing.", + "The trunk now rises through the whole height of my view and its root flare sits just ahead on the lawn. A couple more paces should bring me right up beside it, so I continue forward.", + "The trunk is directly in front of me and dominates the center of my view, but there is still a short stretch of grass before its roots. I will take one more step to stand at the tree itself.", + "The broad trunk of the left-side tree stands immediately in front of me, its roots at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t3_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eaee1155bf8ba5dd27dc76bee8aece04d46a5e56 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Go to the small tree on the left, and then walk to the large tree on the right.", + "Type": 3, + "Start_Pose": [ + -4476.996, + 826.875, + 115.46, + -0.051, + 91.375, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4476.996, + 826.875, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4480.016, + 952.698, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4483.036, + 1078.52, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4486.056, + 1204.343, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4489.077, + 1330.166, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4492.097, + 1455.989, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4495.117, + 1581.811, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4495.117, + 1581.811, + 115.46, + -0.051, + 66.375, + -0.0 + ], + [ + -4444.679, + 1697.122, + 113.333, + -0.051, + 66.375, + -0.0 + ], + [ + -4394.241, + 1812.432, + 118.097, + -0.051, + 66.375, + -0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + 66.375, + -0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + 66.375, + -0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + 91.375, + -0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + 116.375, + -0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + 141.375, + 0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + 166.375, + 0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + -168.625, + 0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + -143.625, + 0.0 + ], + [ + -4343.803, + 1927.743, + 121.364, + -0.051, + -118.625, + 0.0 + ], + [ + -4404.099, + 1817.267, + 117.458, + -0.051, + -118.625, + 0.0 + ], + [ + -4464.395, + 1706.791, + 113.072, + -0.051, + -118.625, + 0.0 + ], + [ + -4524.691, + 1596.316, + 115.383, + -0.051, + -118.625, + 0.0 + ], + [ + -4584.987, + 1485.84, + 115.383, + -0.051, + -118.625, + 0.0 + ], + [ + -4645.283, + 1375.364, + 119.348, + -0.051, + -118.625, + 0.0 + ], + [ + -4645.283, + 1375.364, + 119.348, + -0.051, + -118.625, + 0.0 + ] + ], + "Rationale": [ + "My first destination is the slender young tree rising from the lawn on the left side, and it still sits well ahead of me beyond the walkway. Nothing blocks the open grass and paving in front, so I will step forward to begin closing that distance.", + "The slim tree on the left has grown slightly larger in my view, confirming my heading carries me toward it. The way ahead along the walkway remains clear, so I will keep walking forward.", + "The narrow tree on the left is noticeably closer now, its trunk thicker against the fence behind it. I am still several strides short of it, so another forward step should keep shrinking the gap.", + "The slim tree now stands clearly to my left front with its base visible on the grass. Continuing straight ahead keeps bringing me alongside it, so I will walk forward again.", + "The thin tree fills more of my left side and its roots at the lawn are plain to see, but I have not yet drawn level with it. One more stride forward should put me beside its trunk.", + "The slender tree is close on my left, its trunk tall in the corner of my view while the fence line runs ahead. Stepping forward once more should bring me level with it before I turn to face it.", + "The slim tree now stands off to my left rather than in front of me, so walking straight would carry me past it toward the fence. I will turn left to swing my heading onto the trunk and face it directly.", + "The turn has placed the slim tree squarely ahead, its trunk centered with the grass open between us. A few strides remain, so I will walk forward to reach its base.", + "The slim tree standing on the fenced lawn is directly ahead of me and noticeably wider in view than before, though its base is still several paces off. I will keep walking straight toward it to close the remaining gap.", + "The trunk now fills much of the center of my view and I can make out the grass and roots around its base, so I am nearly beside it. One more step forward should bring me right up to this small tree.", + "The slim tree's bark fills my view from top to bottom, with its roots in the grass immediately in front of my feet. I have arrived at this small tree beside the fence. I mark reaching it, then set off for the big tree over on the right near the street.", + "Standing right against this small tree, my view is blocked by its trunk and the fence line, with no sign of the tall tree by the road ahead of me. I will begin swinging my heading to the right to bring that side of the yard and the street into view.", + "The turn has cleared the trunk from most of my view, but I am still facing the fence and the pale house rather than the street side. I will continue rotating right to keep swinging my heading toward the roadside.", + "My view now shows the long fence with the walkway appearing at the lower right, so I am partway around but still short of facing the street. Another turn to the right should carry my heading further toward that open side.", + "The paved drive and the neighbouring blue house are now opening up on my right, which tells me the street lies further around in that direction. I will keep turning right to bring the roadside strip and its tall tree into view.", + "Ahead of me the pavement and the white picket fence across the way are in view, and heavy foliage is just entering at the upper right edge. I will turn right once more to bring that large tree properly in front of me before walking to it.", + "Having marked the slim tree behind me, I am still swinging my heading toward the far side of the yard, and only the edge of a broad canopy shows at the upper right beyond the driveway. Another rightward turn should bring that heavy tree and the walkway leading to it into the middle of my view.", + "The thick-trunked tree now stands clearly to my right, rooted in the grass strip beside the sidewalk, but my heading still points across the street. One more turn to the right should line me up with the walkway that runs toward its base.", + "My heading is now down the sidewalk, with the big tree's trunk rising just ahead along the grass strip on my left. The path is clear, so I will step forward to close the distance to it.", + "The broad trunk ahead has grown noticeably wider in my view, confirming I am gaining on it. I will keep walking along the open sidewalk toward its base.", + "The heavy tree is closer still, its roots and the grass at its foot now visible just left of the walkway. I will continue forward to draw level with it.", + "The trunk now dominates the middle of my view and its base sits only a few paces ahead on the grass beside the pavement. Another step forward should bring me right up beside it.", + "The wide trunk is directly in front of me, its bark filling much of my view and its root flare almost at my feet. One more step should place me at the tree itself.", + "The large tree's bark fills my view from directly in front of me, so I am standing at it. The task is complete and there is nowhere further to walk." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004786_y-000202_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004786_y-000202_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bce6322718852813f4ed7713b4f585d949751165 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004786_y-000202_z000098_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the trunk of the large tree.", + "Type": 0, + "Start_Pose": [ + -4786.329, + -202.083, + 98.15, + -0.051, + 177.493, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4786.329, + -202.083, + 98.15, + -0.051, + 177.493, + 0 + ], + [ + -4912.068, + -196.578, + 98.15, + -0.051, + 177.493, + -0.0 + ], + [ + -4912.068, + -196.578, + 98.15, + -0.051, + -157.507, + 0.0 + ], + [ + -5028.352, + -244.728, + 98.15, + -0.051, + -157.507, + 0.0 + ], + [ + -5144.636, + -292.878, + 98.15, + -0.051, + -157.507, + 0.0 + ], + [ + -5144.636, + -292.878, + 98.15, + -0.051, + 177.493, + 0.0 + ], + [ + -5270.375, + -287.372, + 98.15, + -0.051, + 177.493, + 0.0 + ], + [ + -5396.113, + -281.867, + 98.15, + -0.051, + 177.493, + 0.0 + ], + [ + -5521.852, + -276.362, + 98.15, + -0.051, + 177.493, + 0.0 + ], + [ + -5521.852, + -276.362, + 98.15, + -0.051, + -157.507, + 0.0 + ], + [ + -5638.136, + -324.512, + 113.025, + -0.051, + -157.507, + 0.0 + ], + [ + -5638.136, + -324.512, + 113.025, + -0.051, + -157.507, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the large tree standing beyond the sidewalk, its thick trunk rising just right of my center of view in front of the fenced yards. Nothing blocks the pavement ahead, so I will step forward to begin closing the wide gap across the street toward that trunk.", + "The tree trunk sits noticeably to the right of my straight-ahead direction, so continuing forward on this heading would carry me past it. I will turn right by a small amount to bring the trunk closer to the center of my view before advancing further.", + "After the small rotation, the trunk of the large tree now stands near the middle of my view, rising above the low picket fence and the white privacy fence beside it. With the heading roughly on target and open pavement in front, I will move forward to shorten the distance.", + "The trunk has grown larger in my view and the curb and grass strip at its base are now clearly visible, confirming I am closing in on the correct tree. I will take another step forward while the way remains unobstructed.", + "As I have drawn nearer, the trunk has drifted toward the left side of my view, so my current heading would take me to the right of it. I will turn left slightly to bring the trunk back toward the center of my view.", + "The heading correction has put the tall trunk back near the middle of my view, with the brick house behind it and the sidewalk strip in front. The road and curb ahead are clear, so I will advance again toward the trunk.", + "I am now close to the curb with the trunk filling more of my view and the shrubs on either side clearly separated from it. Stepping forward again should carry me onto the grass strip and nearer the trunk.", + "The trunk is close now, its bark texture visible where it rises from the lawn just right of my center of view, with the picket fence and house behind. A further step forward should bring me within reach of the trunk itself.", + "The large tree's trunk now fills the right edge of my view, so my heading is offset to the left of it. I will turn right to bring the trunk toward the center of my view so the last bit of approach can go straight at it.", + "The trunk is now centered ahead of me with clear grass between us, and the turn has aligned my heading with it. I will move forward to close the remaining short gap and stand right at the trunk.", + "The tree's bark fills my view directly ahead at arm's length. The task is complete, so I stop here at the trunk." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004786_y-000202_z000098_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004786_y-000202_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97074120639ae09a6747156ea7370db01c611d17 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004786_y-000202_z000098_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the trash bin next to the utility pole.", + "Type": 0, + "Start_Pose": [ + -4786.329, + -202.083, + 98.15, + -0.051, + 177.493, + -0.0 + ], + "Action": [ + "TurnLeft", + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4786.329, + -202.083, + 98.15, + -0.051, + 177.493, + -0.0 + ], + [ + -4786.329, + -202.083, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -4786.329, + -202.083, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -4897.96, + -143.954, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -5009.591, + -85.825, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -5121.223, + -27.696, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -5232.854, + 30.432, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -5344.485, + 88.561, + 98.15, + -0.051, + 152.493, + -0.0 + ], + [ + -5344.485, + 88.561, + 98.15, + -0.051, + 127.493, + 0.0 + ], + [ + -5421.091, + 188.421, + 98.15, + -0.051, + 127.493, + 0.0 + ], + [ + -5497.697, + 288.281, + 98.15, + -0.051, + 127.493, + 0.0 + ], + [ + -5497.697, + 288.281, + 98.15, + -0.051, + 127.493, + 0.0 + ] + ], + "Rationale": [ + "From across the street I can see a wheeled trash bin standing at the curb right beside the tall wooden utility pole, off toward the left side of my view. I will turn left to bring that pole and bin closer to the center of my heading before starting across. This should give me a straight line to walk toward the target.", + "The bin and the pole base now sit low near the bottom edge of my view, and the pole itself runs up out of sight. I will raise my gaze to follow the pole and its overhead lines, confirming that this is the utility pole the bin stands next to rather than a nearby post.", + "With my gaze raised I can trace the pole and its wires above the houses, and the bin sits at the curb at its foot, so the target is confirmed. The roadway between me and that curb looks open, so I will step forward to begin closing the distance.", + "The bin beside the pole is still well ahead of me and slightly left, and the pavement in front stays clear. I will keep walking forward on this heading to shrink the remaining gap.", + "The bin and the pole are noticeably larger now, but I am still out in the roadway rather than at the curb beside them. Another forward step should carry me closer without needing any turn yet.", + "The grey bin at the base of the pole is clearly resolved ahead of me, close to the left of my heading, and the curb is drawing near. I will advance again to keep reducing the distance to it.", + "The bin now sits low and left in my view with the pole rising directly behind it, only a short stretch of road remaining. One more forward step should bring me practically alongside the curb where it stands.", + "I am close to the curb now, but my heading has drifted past the bin so it sits well toward the left edge of my view. I will turn left to bring the bin and its utility pole back to the center of my heading before taking the final steps.", + "The trash bin now sits just left of center in my view, right at the base of the utility pole by the curb, so my heading is well aligned with it. I still have several steps of open pavement between me and it, so I will move forward to close that gap.", + "The bin has grown noticeably and its wheel and lid are clearly distinguishable, so I am close but not yet standing beside it. One more forward step should bring me within arm's reach of the bin at the pole.", + "The trash bin fills the lower view directly ahead, with the utility pole rising right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004794_y001431_z000111_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004794_y001431_z000111_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69a68840e79305964600bbf27ce5dd84d51e2871 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004794_y001431_z000111_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the base of the prominent tree.", + "Type": 0, + "Start_Pose": [ + -4794.435, + 1431.111, + 111.47, + -0.051, + 34.671, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4794.435, + 1431.111, + 111.47, + -0.051, + 34.671, + -0.0 + ], + [ + -4690.925, + 1502.708, + 121.417, + -0.051, + 34.671, + -0.0 + ], + [ + -4690.925, + 1502.708, + 121.417, + -0.051, + 59.671, + -0.0 + ], + [ + -4627.37, + 1611.341, + 117.621, + -0.051, + 59.671, + -0.0 + ], + [ + -4563.816, + 1719.975, + 113.071, + -0.051, + 59.671, + -0.0 + ], + [ + -4500.262, + 1828.609, + 112.814, + -0.051, + 59.671, + -0.0 + ], + [ + -4500.262, + 1828.609, + 112.814, + -0.051, + 34.671, + -0.0 + ], + [ + -4396.751, + 1900.206, + 117.936, + -0.051, + 34.671, + -0.0 + ], + [ + -4396.751, + 1900.206, + 117.936, + -0.051, + 34.671, + -0.0 + ] + ], + "Rationale": [ + "The prominent tree stands ahead in the lawn, its trunk slightly right of my heading with the base clearly visible above the paved walkway. Nothing blocks the open grass between us, so I will move forward to begin closing the distance toward its base.", + "After advancing, the tree trunk still sits off to the right of my forward direction, so continuing straight would carry me past it on the left. I will turn right to bring the trunk closer to the center of my view before pushing forward again.", + "The trunk now sits near the middle of my view with clear grass and pavement between me and it. With the heading pointed at the tree, I will move forward to cut down the remaining distance.", + "The trunk has grown noticeably wider and its root flare at the ground is now easy to see, so I am still some steps short of the base. The path ahead over the grass remains clear, so I will keep moving forward.", + "The tree now dominates the upper part of my view and its base is low in front of me, but there is still open lawn separating us. I will advance again to bring myself right up to the trunk.", + "At this closer range the trunk has drifted to the left side of my view, so a straight step would slide me past it on the right. I will turn left to square my heading onto the trunk and its base.", + "The trunk is centered directly ahead with its root flare spread on the grass just beyond my position. One more forward step should place me right at the base of the tree.", + "The trunk fills the center of my view with its roots spreading at my feet. The task is complete, so I stop here at the tree's base." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004878_y-001880_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004878_y-001880_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1260ce7a7c023523cb9199eb1a5e4c5052058c5f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004878_y-001880_z000098_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the end of the wooden fence closest to the white-and-brick building.", + "Type": 0, + "Start_Pose": [ + -4878.477, + -1880.298, + 98.15, + -0.051, + 17.533, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4878.477, + -1880.298, + 98.15, + -0.051, + 17.533, + 0.0 + ], + [ + -4758.465, + -1842.382, + 114.174, + -0.051, + 17.533, + -0.0 + ], + [ + -4758.465, + -1842.382, + 114.174, + -0.051, + -7.467, + -0.0 + ], + [ + -4633.673, + -1858.738, + 117.695, + -0.051, + -7.467, + -0.0 + ], + [ + -4508.882, + -1875.094, + 113.829, + -0.051, + -7.467, + -0.0 + ], + [ + -4384.09, + -1891.45, + 117.951, + -0.051, + -7.467, + -0.0 + ], + [ + -4259.298, + -1907.806, + 126.195, + -0.051, + -7.467, + -0.0 + ], + [ + -4134.507, + -1924.162, + 134.44, + -0.051, + -7.467, + -0.0 + ], + [ + -4009.715, + -1940.518, + 142.684, + -0.051, + -7.467, + -0.0 + ], + [ + -4009.715, + -1940.518, + 142.684, + -0.051, + -7.467, + -0.0 + ] + ], + "Rationale": [ + "The long wooden fence runs across the lawn ahead of me, and behind its left portion I can see the building with white siding above a brick face, which marks the end of the fence I need to reach. I am still far back near the concrete walkway, so I will step forward across the grass to close distance and get a clearer read on where that left end terminates.", + "From here the fence still stretches off toward the right side of my view, while the white-and-brick building and the fence's nearest end sit toward the left edge. Turning left should put that end of the fence and the building squarely ahead so I can walk straight at it.", + "Now the white-sided house with its brick front stands directly ahead, with the fence beginning just to its right and a tall hedge lining my left. This heading points at the end of the fence closest to that building, so I will advance forward over the lawn.", + "The house and the first fence panel with its lattice top are noticeably larger than before, confirming I am closing on the correct end of the fence. The grass corridor between the hedge and the fence stays clear, so another forward step is safe.", + "The corner post where the fence begins, right against the brick wall of the building, is visible slightly right of center and still several paces off. I will keep walking forward along the open lawn to shorten that gap.", + "The fence now fills much of the right half of my view and the brick section of the building rises just beyond its end post, so my heading remains on target. I will continue forward to bring myself alongside that end.", + "The end post of the fence is close ahead and slightly right, with the brick and white siding of the building directly behind it. A further step forward should bring me right up to that terminating post.", + "The final fence post and panel now tower over the right side of my view, only a step or two away, with the hedge close on my left. One more forward step should place me at the very end of the fence beside the white-and-brick building.", + "The wooden fence's end post stands right in front of me, with the white-and-brick building just beyond it. The task is complete, so I stop here at the fence end." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005411_y-000251_z000098_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005411_y-000251_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4cda14c0d6d1abbcf53fd58bb25bbb665740384e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005411_y-000251_z000098_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the trash bag on top of the garbage bin.", + "Type": 5, + "Start_Pose": [ + -5411.134, + -251.458, + 98.15, + 0, + 123.757, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5411.134, + -251.458, + 98.15, + 0, + 123.757, + 0 + ], + [ + -5481.07, + -146.819, + 98.15, + 0.0, + 123.757, + -0.0 + ], + [ + -5481.07, + -146.819, + 98.15, + 0.0, + 98.757, + -0.0 + ], + [ + -5500.231, + -22.427, + 98.15, + 0.0, + 98.757, + -0.0 + ], + [ + -5519.393, + 101.965, + 98.15, + 0.0, + 98.757, + -0.0 + ], + [ + -5538.554, + 226.357, + 98.15, + 0.0, + 98.757, + -0.0 + ], + [ + -5556.399, + 307.347, + 98.15, + 0.0, + 98.757, + -0.0 + ], + [ + -5556.399, + 307.347, + 98.15, + 0.0, + 98.757, + -0.0 + ], + [ + -5556.399, + 307.347, + 98.15, + 0.0, + 98.757, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5565.349, + 411.783, + 105.855, + -4.009, + 135.796, + 70.631 + ], + [ + -5577.411, + 303.492, + 68.256, + -28.202, + 148.902, + 1.862 + ], + [ + -5577.411, + 303.492, + 68.256, + -28.202, + 148.902, + 1.862 + ] + ], + "PD_Dist_2D": [ + 680.9, + 564.9, + 564.9, + 439.1, + 313.2, + 187.4, + 104.8, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the dark trash bag resting on top of the wheeled bin far down the curb line ahead of me. It is much too distant to reach, so I will walk forward along the street to close that gap.", + "The bin with the bag on its lid now sits well off to the left side of my view, while my heading points along the houses and mailbox on the right. I will turn left to bring the bag near the center of my path before continuing.", + "The bin with the bag on top now sits near the middle of my view along the curb ahead. With the heading lined up, I will step forward down the street to shorten the remaining distance.", + "The bagged bin has grown noticeably larger and stays centered ahead of me, so my line of travel is good. It is still several strides away, so I will keep walking forward.", + "The bin now fills a good part of the lower view and the black bag on its lid is clearly visible, but I am not yet close enough to reach it. I will advance again to bring the bag within grasping range.", + "The bin is directly in front of me now and the bag sits just above its rim, though still slightly beyond my hands. I will take one more short step forward so the bag is close enough to grab.", + "The trash bag now fills my view at arm's length, resting on the bin lid right in front of me. This is the closest I can get, so I will attempt to grasp the bag and lift it off the bin.", + "The trash bag is now held in my hands and the bin lid beside me is bare. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005458_y002571_z000129_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005458_y002571_z000129_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a733ccc779ae331230dfcaedf35e126d46063ff --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005458_y002571_z000129_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move toward the left window of the house.", + "Type": 2, + "Start_Pose": [ + -5457.781, + 2570.683, + 128.985, + -0.051, + 158.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5457.781, + 2570.683, + 128.985, + -0.051, + 158.92, + -0.0 + ], + [ + -5575.217, + 2615.951, + 131.917, + -0.051, + 158.92, + 0.0 + ], + [ + -5692.653, + 2661.219, + 134.85, + -0.051, + 158.92, + 0.0 + ], + [ + -5810.09, + 2706.487, + 137.782, + -0.051, + 158.92, + 0.0 + ], + [ + -5927.526, + 2751.754, + 140.715, + -0.051, + 158.92, + 0.0 + ], + [ + -6044.963, + 2797.022, + 143.647, + -0.051, + 158.92, + 0.0 + ], + [ + -6162.399, + 2842.29, + 146.579, + -0.051, + 158.92, + 0.0 + ], + [ + -6279.835, + 2887.558, + 148.204, + -0.051, + 158.92, + 0.0 + ], + [ + -6279.835, + 2887.558, + 148.204, + -0.051, + 158.92, + 0.0 + ] + ], + "Rationale": [ + "Two ground-floor windows face me on this blue clapboard wall, and the left one is the pair sitting just inside the house's left corner beneath the gable peak, which is my target. It lies almost straight ahead across the open lawn with nothing between us. I will walk forward to close that distance.", + "The window under the gable is noticeably larger now and still slightly left of my heading, so my line of travel is good. The lawn ahead stays clear right up to the foundation. I keep walking forward toward it.", + "The wall is filling more of my view and the window beneath the gable now sits at the left of my sight, with the other windows belonging to the set-back section on the right. Nothing blocks the grass in front of me. Another step forward should bring me nearer.", + "The target window and its white frame are clearly resolved ahead, and the concrete foundation below it is coming into view. I still have several strides of open grass before reaching the wall. I continue forward.", + "The window I chose beside the corner now dominates the upper left of my view and the siding is close enough to read board by board. I am not yet right at the wall. Stepping forward again should put me at the window.", + "At this range the other windows have slid out of my view entirely, leaving only the one beside the house corner that I have been following, its curtains visible through the glass. A short strip of grass still separates me from the foundation. I move forward once more.", + "The window fills much of my view and its sill and frame are directly in front of me, so I am nearly against the wall. One more step should bring me right up beneath it.", + "The window frame and sill fill my view at arm's length, with the siding right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005588_y002131_z000122_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005588_y002131_z000122_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff789fd9d851eeeb46f0978ca035604098a20f50 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005588_y002131_z000122_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the junction between the tall white fence and the white picket fence.", + "Type": 0, + "Start_Pose": [ + -5588.06, + 2130.579, + 121.506, + -0.051, + -115.854, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5588.06, + 2130.579, + 121.506, + -0.051, + -115.854, + -0.0 + ], + [ + -5642.945, + 2017.318, + 114.505, + -0.051, + -115.854, + -0.0 + ], + [ + -5697.829, + 1904.056, + 119.972, + -0.051, + -115.854, + -0.0 + ], + [ + -5752.714, + 1790.795, + 119.314, + -0.051, + -115.854, + -0.0 + ], + [ + -5752.714, + 1790.795, + 119.314, + -0.051, + -140.854, + -0.0 + ], + [ + -5850.322, + 1711.34, + 113.109, + -0.051, + -140.854, + -0.0 + ], + [ + -5947.931, + 1631.885, + 113.365, + -0.051, + -140.854, + -0.0 + ], + [ + -5947.931, + 1631.885, + 113.365, + -0.051, + -140.854, + -0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can see the tall solid white fence running along my left and the low white picket fence continuing ahead of it, so the junction I need lies somewhere down this walkway to my front left. My heading already follows the sidewalk toward that seam, so I will move forward to close the gap. This should bring the meeting point of the two fence styles into clearer view.", + "The solid fence panels on my left are now larger in view and the picket section ahead is more distinct, confirming I am tracking the correct boundary line. Nothing blocks the sidewalk in front of me, so continuing straight is the most direct way to reduce the remaining distance. I will move forward again toward where the two fences meet.", + "I can now make out a taller square post where the solid panel section ends and the picket run begins just ahead on my left. That post marks the junction described in the task, and I am still several steps short of it. I will keep moving forward along the walkway to reach it.", + "The seam between the tall solid fence and the picket fence sits off to my left rather than straight ahead, so walking on my current heading would carry me down the sidewalk past it. A small turn to the left should place that corner post near the center of my view. I will turn left to line my heading up with the junction.", + "With my heading adjusted, the tall solid fence fills the left of my view and the picket fence extends to the right from the corner post, which is now roughly in front of me. The grass strip and walkway between me and that post are clear. I will move forward to close in on the junction.", + "The tall panel and the post capping it now dominate the left of my view, with the picket slats running away to the right, so I am nearly at the meeting point but still a step short. One more forward step should place me directly at that seam. I will move forward again.", + "I am standing right at the post where the tall solid white fence ends and the white picket fence begins. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005651_y002001_z000116_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005651_y002001_z000116_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef8ded6c805f2bcfbfd060af0c24ac471db027f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005651_y002001_z000116_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Navigate to the base of the prominent tree.", + "Type": 0, + "Start_Pose": [ + -5650.652, + 2001.412, + 115.909, + -0.051, + 27.032, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5650.652, + 2001.412, + 115.909, + -0.051, + 27.032, + 0.0 + ], + [ + -5650.652, + 2001.412, + 115.909, + -0.051, + 2.032, + 0.0 + ], + [ + -5524.872, + 2005.875, + 109.285, + -0.051, + 2.032, + 0.0 + ], + [ + -5399.092, + 2010.337, + 110.362, + -0.051, + 2.032, + 0.0 + ], + [ + -5273.312, + 2014.8, + 110.099, + -0.051, + 2.032, + 0.0 + ], + [ + -5147.533, + 2019.263, + 109.325, + -0.051, + 2.032, + 0.0 + ], + [ + -5021.753, + 2023.725, + 110.116, + -0.051, + 2.032, + 0.0 + ], + [ + -4895.973, + 2028.188, + 111.092, + -0.051, + 2.032, + 0.0 + ], + [ + -4770.193, + 2032.651, + 112.068, + -0.051, + 2.032, + 0.0 + ], + [ + -4644.413, + 2037.113, + 119.03, + -0.051, + 2.032, + 0.0 + ], + [ + -4518.634, + 2041.576, + 113.82, + -0.051, + 2.032, + 0.0 + ], + [ + -4392.854, + 2046.039, + 118.093, + -0.051, + 2.032, + 0.0 + ], + [ + -4392.854, + 2046.039, + 118.093, + -0.051, + 2.032, + 0.0 + ] + ], + "Rationale": [ + "The prominent tree stands on the grass ahead of me, but its trunk sits well to the left of my center of view while my heading points down the walkway toward the neighboring house. I will turn left to bring the tree onto my forward axis so that a straight approach across the lawn should be possible.", + "After the turn, the tree trunk is now near the center of my view with open grass and a curb between us. I will step forward along this heading to begin closing the distance to its base.", + "The tree is slightly larger in my view and still lined up straight ahead, so my heading is good. I will continue forward without adjusting direction.", + "The trunk and the base of the tree stay centered while the fences on both sides widen outward, which tells me I am moving straight toward it. I will keep advancing since the remaining gap across the grass is still substantial.", + "The tree now dominates the upper middle of my view and its trunk meets the grass just ahead of the paved strip. My heading needs no correction, so I will take another step forward to shorten the distance.", + "I am on the paved walkway with the trunk still squarely centered and clearly nearer than before. I will continue straight ahead toward the base rather than adjust my heading.", + "The trunk is thick in my view and the ground where it meets the lawn is only a short stretch away. I will move forward again to close that remaining gap.", + "The tree fills the middle of my view with its base plainly in sight across a narrowing patch of lawn, and nothing blocks my line. I will step forward again to bring myself right up to the base.", + "The tree trunk stands centered in my view with its base resting on the lawn just past the paved strip in front of me, so my heading is still correct. I will step forward to keep closing the remaining gap across the grass toward the trunk.", + "The trunk now fills much more of my view and the flared roots at its base are clearly visible on the grass ahead, confirming I am close but not yet at it. I will advance again to bring the base within a step or two.", + "The trunk dominates the center of my view and its base sits only a short step ahead on the open lawn, slightly left of my line of travel. One more forward step should place me right at the base of the tree.", + "The tree trunk fills my view at arm's length, with its bark directly in front of me. The task is complete, so I stop here at the base." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005651_y002001_z000116_t0_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005651_y002001_z000116_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e1f3673796fff7b4703bf0548ac8c87c11b4068e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005651_y002001_z000116_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the point where the tall white fence meets the shorter white picket fence.", + "Type": 0, + "Start_Pose": [ + -5650.652, + 2001.412, + 115.909, + -0.051, + -115.854, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5650.652, + 2001.412, + 115.909, + -0.051, + -115.854, + -0.0 + ], + [ + -5705.536, + 1888.15, + 120.824, + -0.051, + -115.854, + -0.0 + ], + [ + -5760.421, + 1774.889, + 118.551, + -0.051, + -115.854, + -0.0 + ], + [ + -5815.305, + 1661.627, + 113.201, + -0.051, + -115.854, + -0.0 + ], + [ + -5815.305, + 1661.627, + 113.201, + -0.051, + -140.854, + -0.0 + ], + [ + -5912.914, + 1582.173, + 113.789, + -0.051, + -140.854, + -0.0 + ], + [ + -5912.914, + 1582.173, + 113.789, + -0.051, + -165.854, + -0.0 + ], + [ + -5912.914, + 1582.173, + 113.789, + -0.051, + -165.854, + -0.0 + ] + ], + "Rationale": [ + "From here the tall solid white fence runs along my left, and further ahead it gives way to a lower white picket fence beside the same walkway. That transition is the point I need, so I will move forward along the sidewalk to close the gap toward it.", + "The picket run and the end of the tall panels are noticeably larger in view now, but the seam between them is still some distance up the walk. The path stays clear, so I will keep advancing forward.", + "The tall fence panel and its post now sit close on my left, with the picket fence continuing away from it along the lawn. I will take another step forward so the junction of the two fences comes within immediate reach.", + "The picket fence now stretches across my left side while my heading points down the sidewalk past it. Turning left should swing my view onto the fence line so I can see where the tall panels end and the pickets begin.", + "Facing the fence line, I can see the tall panel with its post on my left and the picket run continuing to the right of it. A short step forward should bring me right up to where those two fence types meet.", + "I am beside the fence line now, with the picket fence in front of me and the tall solid panel pushed to the far left edge of my view. A slight left turn should center the junction of the two fences directly ahead of me.", + "The tall solid fence post and the adjoining shorter picket fence meet directly in front of me at arm's length. The task is complete, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000053_y-001809_z000169_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000053_y-001809_z000169_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e76d58a568143e5726b2a0d9301566849baf48c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000053_y-001809_z000169_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the dresser on the left.", + "Type": 2, + "Start_Pose": [ + 52.794, + -1808.658, + 169.15, + -0.301, + -28.446, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 52.794, + -1808.658, + 169.15, + -0.301, + -28.446, + 0.0 + ], + [ + 163.456, + -1868.608, + 168.276, + -0.301, + -28.446, + -0.0 + ], + [ + 274.118, + -1928.557, + 168.276, + -0.301, + -28.446, + -0.0 + ], + [ + 274.118, + -1928.557, + 168.276, + -0.301, + -53.446, + -0.0 + ], + [ + 349.076, + -2029.658, + 168.276, + -0.301, + -53.446, + -0.0 + ], + [ + 424.034, + -2130.758, + 168.276, + -0.301, + -53.446, + -0.0 + ], + [ + 424.034, + -2130.758, + 168.276, + -0.301, + -53.446, + -0.0 + ] + ], + "Rationale": [ + "Two dressers are in sight: one against the wall close on my right, and a longer one across the room on the left beneath a framed pyramid print. That left one, under the pyramid picture, is my target, so I step forward across the open floor toward it.", + "The long dresser beneath the pyramid print is still well ahead on my left, beyond the wall column that partly cuts my line to it. Nothing blocks the floor in front of me, so I walk forward again to close the gap.", + "The blank wall column now fills most of my view, and the dresser under the pyramid print has slipped to the far left edge. I will turn left so that dresser sits in front of me again and I can head straight at it.", + "The turn has put the long dresser under the pyramid print squarely ahead of me, with the bookcase along my left. Open floor lies between us, so I walk forward to close the remaining distance.", + "The dresser topped with the potted plant, vase and framed photos stands just ahead and slightly to my left, but I am still a stride short of being at it. I step forward once more to bring myself right up beside it.", + "The long white dresser beneath the pyramid print now fills my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000159_y-001676_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000159_y-001676_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e613ff528b2c8c5cc5657e105810c4f0c3fe417 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000159_y-001676_z000168_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the tall plant next to the refrigerator.", + "Type": 0, + "Start_Pose": [ + 158.876, + -1676.044, + 168.15, + -0.148, + -90.502, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 158.876, + -1676.044, + 168.15, + -0.148, + -90.502, + 0.0 + ], + [ + 158.876, + -1676.044, + 168.15, + -0.148, + -115.502, + 0.0 + ], + [ + 158.876, + -1676.044, + 168.15, + -0.148, + -140.502, + 0.0 + ], + [ + 107.317, + -1755.862, + 169.007, + -0.148, + -140.502, + 0.0 + ], + [ + 11.476, + -1837.104, + 168.315, + -0.148, + -140.502, + 0.0 + ], + [ + 11.476, + -1837.104, + 168.315, + -0.148, + -115.502, + 0.0 + ], + [ + -42.711, + -1950.7, + 168.315, + -0.148, + -115.502, + 0.0 + ], + [ + -96.899, + -2064.296, + 168.315, + -0.148, + -115.502, + 0.0 + ], + [ + -96.899, + -2064.296, + 168.315, + -0.148, + -115.502, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the cream refrigerator far off on the left edge of the room with a tall leafy plant standing beside it. Since that target sits well to my left, I will turn left to bring the refrigerator and plant toward the center of my view.", + "The kitchen counter run is now in view and the refrigerator with its tall plant sits toward the middle right, but my heading still points across the room rather than down the kitchen. Another left turn should square me with the open floor leading toward the refrigerator corner.", + "I am now facing down the length of the kitchen with the refrigerator and the tall plant beside it clearly ahead on the right of the counter run. The path over the wooden floor looks clear, so I will move forward to close distance.", + "The refrigerator and the plant next to it have grown larger ahead of me, but they are still several steps away past the oven and dishwasher. I will continue straight along the open floor to reduce that remaining distance.", + "I am close to the counters now, and the refrigerator with the tall plant has drifted to the right side of my view while my heading points at the cabinet wall. A right turn should place the refrigerator and plant directly ahead of me.", + "The refrigerator now sits ahead with the tall plant standing in the corner right beside it, exactly the object named in the task. The lane between the counter and the bookshelf is open, so I will step forward to get near it.", + "The plant and the refrigerator beside it are close now, but I am still a step short of standing next to them. One more forward step should bring me right up to the plant.", + "The tall plant stands directly in front of me, immediately beside the refrigerator. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000174_y-001713_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000174_y-001713_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e5dbc8d2ed277a8c0ce57e974623402390b0843 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000174_y-001713_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the refrigerator.", + "Type": 0, + "Start_Pose": [ + 174.35, + -1712.508, + 168.15, + -0.301, + -172.34, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 174.35, + -1712.508, + 168.15, + -0.301, + -172.34, + 0.0 + ], + [ + 174.35, + -1712.508, + 168.15, + -0.301, + -147.34, + -0.0 + ], + [ + 72.832, + -1784.547, + 168.908, + -0.301, + -147.34, + -0.0 + ], + [ + -33.126, + -1852.466, + 168.227, + -0.301, + -147.34, + -0.0 + ], + [ + -33.126, + -1852.466, + 168.227, + -0.301, + -122.34, + -0.0 + ], + [ + -100.452, + -1958.801, + 168.227, + -0.301, + -122.34, + -0.0 + ], + [ + -115.571, + -2055.293, + 168.149, + -0.301, + -122.34, + -0.0 + ], + [ + -115.571, + -2055.293, + 168.149, + -0.301, + -122.34, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the kitchen counter run ahead, with a cream refrigerator barely visible at the far right edge of my view. I will turn right to bring that refrigerator more centrally into view so I can head straight for it.", + "The refrigerator now sits in the right half of my view, standing at the end of the counter run with clear open floor between us. I will move forward along the open floor to close that distance.", + "The refrigerator has grown noticeably larger and its handles are becoming distinct, so my heading is still carrying me toward it. I will continue forward since the floor ahead remains unobstructed.", + "I am close to the counter now and the refrigerator has drifted toward the right side of my view, so heading straight would carry me past it. I will turn right to re-center the refrigerator before continuing.", + "The refrigerator is now framed more centrally with open floor in front of it and a bookcase beyond. I will move forward to close the remaining gap to its door.", + "The refrigerator body now fills much of the left half of my view and its handles are close and clearly resolved. I will take one more short step forward to stand directly at it.", + "The refrigerator door and its handles fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000179_y001582_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000179_y001582_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..356d3b50566c76bb0d248c414179bcfd00666eea --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000179_y001582_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the table located directly under the wall cabinets.", + "Type": 0, + "Start_Pose": [ + 179.497, + 1581.982, + 168.15, + 0.0, + 99.774, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 179.497, + 1581.982, + 168.15, + 0.0, + 99.774, + -0.0 + ], + [ + 179.497, + 1581.982, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + 107.714, + 1685.364, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + 35.932, + 1788.745, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + -35.851, + 1892.127, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + -35.851, + 1892.127, + 168.15, + 0.0, + 149.774, + -0.0 + ], + [ + -144.599, + 1955.486, + 168.15, + 0.0, + 149.774, + -0.0 + ], + [ + -144.599, + 1955.486, + 168.15, + 0.0, + 149.774, + -0.0 + ] + ], + "Rationale": [ + "From this doorway-side position I can see the pair of white wall cabinets on the far right wall, with work tables standing directly beneath them. They sit well off to my right of my current heading, so I will turn right to bring that cabinet-and-table area toward the center of my view before advancing.", + "The wall cabinets and the tables underneath them now sit near the middle of my view, so my heading is roughly on target. They are still far across the open floor, so I will move forward to close distance.", + "The cabinets and the two tables beneath them are noticeably larger and still centered ahead of me, with clear floor in between. I will keep moving forward to shorten the remaining gap.", + "The cabinet doors and the table surfaces under them now fill much of the upper right of my view, but I am still a couple of steps short of standing at the table. I will advance again to arrive close to it.", + "I am now close to the wall, and the cabinets with the table directly beneath them have drifted to the right of my forward axis. I will turn right so the under-cabinet table is squarely in front of me for the last step.", + "The wall cabinets and the table beneath them are now centered directly ahead of me at close range. One more forward step should put me right at that table, just under the cabinets.", + "I am standing right at the table top with the wall cabinets and their light immediately above me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000182_y-002054_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000182_y-002054_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2153b3a437c3a86dbf23ac011dde403610afb556 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000182_y-002054_z000168_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk towards the second painting visible on the left wall.", + "Type": 2, + "Start_Pose": [ + 181.793, + -2054.019, + 168.149, + -0.301, + 0.131, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 181.793, + -2054.019, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 307.65, + -2053.731, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 428.295, + -2059.393, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 542.862, + -2070.696, + 204.982, + -0.301, + 0.131, + 0.0 + ], + [ + 542.862, + -2070.696, + 204.982, + -0.301, + -24.869, + -0.0 + ], + [ + 657.048, + -2123.625, + 168.943, + -0.301, + -24.869, + -0.0 + ], + [ + 657.048, + -2123.625, + 168.943, + -0.301, + -49.869, + -0.0 + ], + [ + 727.698, + -2210.469, + 168.943, + -0.301, + -49.869, + -0.0 + ], + [ + 718.47, + -2236.431, + 168.23, + -0.301, + -49.869, + -0.0 + ], + [ + 718.47, + -2236.431, + 168.23, + -0.301, + -49.869, + -0.0 + ], + [ + 718.47, + -2236.431, + 168.23, + -0.301, + -49.869, + -0.0 + ] + ], + "Rationale": [ + "Along the left wall I count the large framed landscape above the dresser beside me as the first picture, and further down the hall a second one hanging above the slim table with candles and a vase. That candle table marks my target, so I will walk straight down the corridor to close the distance.", + "The painting above the candle table on my left is noticeably larger now, but still well ahead of me down the hall. Nothing blocks the runner, so I will keep walking forward to close the gap.", + "The landscape above the candle table now hangs clearly on my left, though I am still short of it and the corridor continues straight past it. I will step forward again to bring myself level with that table before angling toward the wall.", + "My heading still runs down the corridor toward the far white door, while the picture above the candle table sits off to my left. I will turn left so my body faces that wall instead of walking past it.", + "The turn has brought the candle table and the wide framed landscape above it into the left half of my view, angled toward me. There is open floor between us, so I will walk forward to close most of the remaining distance.", + "The painting above the candle table is close but still sits off toward my left, with my facing skewed down the hall. A further left turn should square me up to that stretch of wall before the last few steps.", + "I am now facing the candle table with the framed landscape centered above it, only a short walk away. Up close the wall no longer reads as a row of pictures, but this is the one I chose, so I will step forward toward it.", + "The candles on the table are right in front of me and the frame's lower edge has risen to the top of my view, so I am nearly at the wall. One more short step forward should bring me directly beneath the painting.", + "Standing this close, my view is filled with blank wall and only a corner of the dark frame clips the top right. I will look up to raise my gaze onto the landscape above the candle table and confirm I am beneath it.", + "The framed landscape hangs directly overhead, close enough to show its wood grain and canvas. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000192_y001556_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000192_y001556_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..914303978460646041c567ed8ec0ead4308d2777 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000192_y001556_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the blue plastic box on the floor.", + "Type": 0, + "Start_Pose": [ + 192.419, + 1556.391, + 168.15, + 0.0, + 99.774, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 192.419, + 1556.391, + 168.15, + 0.0, + 99.774, + -0.0 + ], + [ + 171.053, + 1680.423, + 168.15, + 0.0, + 99.774, + -0.0 + ], + [ + 149.687, + 1804.455, + 168.15, + 0.0, + 99.774, + -0.0 + ], + [ + 149.687, + 1804.455, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + 77.904, + 1907.837, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + 6.122, + 2011.219, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + 6.122, + 2011.219, + 168.15, + 0.0, + 124.774, + -0.0 + ], + [ + 6.122, + 2011.219, + 168.15, + 0.0, + 124.774, + -0.0 + ] + ], + "Rationale": [ + "From the doorway end of this garage I can already see the blue plastic box sitting on the bare floor ahead, just right of the two storage shelves. It is still far across the open concrete, so I will move forward along my current heading to begin closing that gap.", + "The blue box now appears noticeably larger and lower in my view, confirming my heading is carrying me toward it. The floor ahead is still clear, so I will continue straight to cut down the remaining distance.", + "At this closer range the blue box sits off to the right of my straight-ahead heading, near the workbench, so moving forward now would drift me past it toward the shelving. I will turn right a small amount to bring the box onto my forward axis before advancing again.", + "After the turn the blue box is centered in front of me on the open floor, with the shelf edge safely to my left. I will step forward along this corrected heading to keep closing on it.", + "The blue box is now large and low in my view, only a short stretch of floor away and slightly left of straight ahead. One more forward step should place me right beside it rather than still standing off from it.", + "I have arrived so close that my level gaze now shows only the wall, the small table, and the bench, with the box dropped out of the bottom of my view. I will tilt my view downward to bring the floor directly in front of me into sight and confirm the blue box is at my feet.", + "The blue plastic box is directly at my feet on the floor, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000212_y-001775_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000212_y-001775_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d40facbde30a5746532419e8420dde4966198d81 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000212_y-001775_z000168_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go towards the green plant.", + "Type": 0, + "Start_Pose": [ + 212.317, + -1775.019, + 168.15, + -0.301, + -150.501, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 212.317, + -1775.019, + 168.15, + -0.301, + -150.501, + 0.0 + ], + [ + 102.775, + -1836.992, + 168.15, + -0.301, + -150.501, + -0.0 + ], + [ + -6.766, + -1898.965, + 168.15, + -0.301, + -150.501, + -0.0 + ], + [ + -6.766, + -1898.965, + 168.15, + -0.301, + -125.501, + -0.0 + ], + [ + -79.854, + -2001.426, + 168.15, + -0.301, + -125.501, + -0.0 + ], + [ + -111.529, + -2087.001, + 168.149, + -0.301, + -125.501, + -0.0 + ], + [ + -111.529, + -2087.001, + 168.149, + -0.301, + -125.501, + -0.0 + ] + ], + "Rationale": [ + "From the kitchen I can spot a leafy green plant in a pot far ahead, tucked beside the cream refrigerator near the bookshelves. It is roughly along my current heading, so I will move forward down the open floor to begin closing that large gap.", + "The potted plant now reads more clearly next to the refrigerator, and the path along the counter run is still unobstructed. I will continue straight forward to keep shrinking the distance before making any heading adjustment.", + "I am now close to the counter, and the plant sits off to the right of my view, partly behind the refrigerator's edge. A modest turn to the right should bring it nearer the center of my heading so I can approach it directly.", + "The green plant is now framed in the middle of my view, in the alcove between the refrigerator and the bookshelf. With that corridor of floor open ahead, I will move forward to close in on it.", + "The plant's leaves are large in my view just past the refrigerator door, so only a short gap remains. I will advance once more to bring myself right up beside it.", + "The green potted plant fills the center of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000219_y-001780_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000219_y-001780_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f3e71423c0e3d9d433e0e4e19449255c19886daf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000219_y-001780_z000168_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk toward the vase on the small side table on the right.", + "Type": 2, + "Start_Pose": [ + 219.417, + -1780.349, + 168.149, + -0.301, + -98.112, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 219.417, + -1780.349, + 168.149, + -0.301, + -98.112, + 0.0 + ], + [ + 219.417, + -1780.349, + 168.149, + -0.301, + -73.112, + -0.0 + ], + [ + 255.979, + -1900.779, + 168.149, + -0.301, + -73.112, + -0.0 + ], + [ + 292.541, + -2021.208, + 168.149, + -0.301, + -73.112, + -0.0 + ], + [ + 292.541, + -2021.208, + 168.149, + -0.301, + -48.112, + -0.0 + ], + [ + 376.572, + -2114.903, + 168.149, + -0.301, + -48.112, + -0.0 + ], + [ + 460.094, + -2195.326, + 168.149, + -0.301, + -48.112, + -0.0 + ], + [ + 460.094, + -2195.326, + 168.149, + -0.301, + -48.112, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only see the fireplace and bookcases, while the right side of the room holds a low white chest and an opening beyond it, which is where a small side table with a vase would stand. I will turn right to bring that right-hand side of the room in front of me.", + "Now the right portion of the room is open ahead of me, with the long chest against the far wall and a passage continuing past it. The floor between me and that wall is clear, so I will walk forward to close distance and see what stands along the right side.", + "The bookcase and the long chest are noticeably larger now, but the low chest with its plant and frames is a wide sideboard, not the small side table I want. Advancing again should carry me nearer the opening on the right where a smaller table may sit.", + "I am close to the bookcase, and the wide sideboard on my right is not the small side table with the vase. The room continues to the right past that sideboard, so I will turn right to face along that side and look for the small table there.", + "Facing along this side of the room, I can see a slim-legged side table standing against the right-hand wall further down, well past the long sideboard. The floor ahead is clear, so I will walk forward toward that small table.", + "The small side table on the right is much nearer now, and a vase with dried stems is clearly visible on it beside a photo frame. One more step forward should put me right at that table.", + "The vase with dried stems on the small side table stands directly before me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000221_y-002170_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000221_y-002170_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a363bfb427612b592d809028846be369466f217 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000221_y-002170_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the living room to the dark grid-window door and open it.", + "Type": 4, + "Start_Pose": [ + 220.812, + -2170.402, + 168.15, + 0.0, + 94.039, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 220.812, + -2170.402, + 168.15, + 0.0, + 94.039, + -0.0 + ], + [ + 211.947, + -2044.856, + 168.15, + 0.0, + 94.039, + -0.0 + ], + [ + 225.172, + -1937.44, + 168.15, + 0.0, + 94.039, + -0.0 + ], + [ + 217.155, + -1811.887, + 168.15, + 0.0, + 94.039, + -0.0 + ], + [ + 208.29, + -1686.341, + 168.15, + 0.0, + 94.039, + -0.0 + ], + [ + 208.29, + -1686.341, + 168.15, + 0.0, + 94.039, + -0.0 + ], + [ + 208.29, + -1686.341, + 168.15, + 0.0, + 69.039, + -0.0 + ], + [ + 255.091, + -1645.666, + 168.15, + 0.0, + 69.039, + -0.0 + ], + [ + 255.091, + -1645.666, + 168.15, + 0.0, + 69.039, + -0.0 + ], + [ + 255.091, + -1645.666, + 168.15, + 0.0, + 69.039, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the near side of the living room I can see the dark door with the white grid window straight ahead, past the cabinets on my left and the sofa on my right. The floor between us is clear, so I will move forward along this heading to begin closing that distance.", + "The grid-window door is now noticeably larger and centered slightly left of my view, confirming my heading is good. Nothing blocks the open floor ahead, so I will continue forward toward it.", + "The dark door with its white muntin panes now dominates the left-center of my view, but I am still several steps away and too far to reach any handle. I will keep advancing to bring the door within interaction range.", + "The door fills most of my view and I can make out the brass handle on its left edge, so I am close but not yet at the threshold. One more step forward should place me directly in front of the door for an opening attempt.", + "I am now right up against the dark grid-window door, with its glazed pane and frame filling the left side of my view and the wall switch beside it on the right. Since the door surface is within arm's reach, I will attempt to open it now, though I have drifted close to the frame edge and the handle is no longer in sight.", + "My open attempt just now left the dark grid-window door shut, and I can see why: most of my view is taken up by the plain wall and its light switch on the right, with only the edge of the door panel at the far left. I am aimed at the frame rather than at the door leaf and its handle, so I will turn left to bring the door itself squarely in front of me.", + "Now the dark door with its nine-pane grid window fills my view and the brass knob is visible on its left stile, so my heading is finally centered on the leaf itself. Since the earlier attempt from a poorer position did not move the door, I will step forward to close the remaining gap and put the handle clearly within reach.", + "I am now right up against the door, with the glass pane and its white muntins filling my view and the knob at my lower left within arm's reach. This position is much better than the off-center stance where my previous attempt failed to move the door, so I will try the handle again and it should swing open.", + "The doorway now stands open onto the porch, lawn, and street beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000228_y-000877_z000122_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000228_y-000877_z000122_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66ede12783b19edae36d5af8e2772451659c1eb9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000228_y-000877_z000122_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the second garden lamp pillar from the left along the driveway.", + "Type": 2, + "Start_Pose": [ + 228.313, + -876.593, + 122.111, + 0.0, + -9.078, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "LookDown", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 228.313, + -876.593, + 122.111, + 0.0, + -9.078, + 0.0 + ], + [ + 347.439, + -904.136, + 123.93, + 0.0, + -9.078, + 0.0 + ], + [ + 471.722, + -923.994, + 125.242, + 0.0, + -9.078, + 0.0 + ], + [ + 471.722, + -923.994, + 125.242, + 0.0, + -34.078, + 0.0 + ], + [ + 575.968, + -994.516, + 129.901, + 0.0, + -34.078, + 0.0 + ], + [ + 680.214, + -1065.037, + 134.56, + 0.0, + -34.078, + 0.0 + ], + [ + 784.46, + -1135.559, + 139.219, + 0.0, + -34.078, + 0.0 + ], + [ + 784.46, + -1135.559, + 139.219, + 0.0, + -59.078, + 0.0 + ], + [ + 849.135, + -1243.529, + 146.352, + 0.0, + -59.078, + 0.0 + ], + [ + 849.135, + -1243.529, + 146.352, + 0.0, + -34.078, + 0.0 + ], + [ + 849.135, + -1243.529, + 146.352, + 0.0, + -34.078, + 0.0 + ], + [ + 849.135, + -1243.529, + 146.352, + 0.0, + -59.078, + 0.0 + ], + [ + 849.135, + -1243.529, + 146.352, + 0.0, + -59.078, + 0.0 + ], + [ + 849.135, + -1243.529, + 146.352, + 0.0, + -59.078, + 0.0 + ] + ], + "Rationale": [ + "A row of short capped lamp pillars lines the driveway ahead, and counting from the left end the second one stands on the grass edge just beside the garage apron near the porch corner, so that pillar is my target. It is still far off across the lawn, so I will walk forward to close distance.", + "The garage and the driveway edge are larger now, but the pillar I chose beside the garage apron is still several strides away. I will keep walking straight ahead to shorten that gap before adjusting my heading.", + "My heading is angled toward the middle of the driveway, while the pillar I want sits off to my left near the garage apron and the neighbouring porch. Turning left should place that end of the row in front of me so I can advance straight at it.", + "The porch on my left and the garage door ahead now frame the stretch of grass where my pillar stands, and it lies roughly along my heading. I will step forward along the lawn edge to close in on it.", + "The pillars along this edge are noticeably taller in view, yet the one beside the garage apron is still a few paces off. Nothing blocks the grass strip in front of me, so I will continue walking toward it.", + "The garage wall and its apron now fill much of my view, and my pillar sits just short of the corner where the paving meets the grass. Another step forward should bring me alongside it.", + "From this close the pillars no longer read as a countable row, and the two nearest ones have slid to my lower left while my gaze points across the open driveway. The one I am going to is the pillar beside the garage corner by the porch, so I will turn left to face it.", + "The pillar beside the garage corner and the porch railing is now ahead of me and slightly left, standing on the grass strip by the paving. A short step forward should put me right at its base.", + "Standing this close, my gaze has buried itself in the garage siding and door, with only a sliver of paving left at the bottom of my view. I will turn right to bring the driveway edge and the grass strip back into sight so I can judge exactly where I stand relative to the pillar beside the apron.", + "The open apron and the neighbouring yard are back in view, but my target sits too near and too low to appear at this eye level. Looking down should show me the paving and grass immediately in front of my feet, where its base ought to be.", + "With the ground in view I can see the dark cap of my pillar just entering the lower left corner, so it lies off my left shoulder rather than in front. Turning left should swing it toward the middle of my view and square me up with it.", + "My heading now runs along the porch corner and the garage apron edge where the pillar stands, but with my gaze back at wall height only the far pillar by the porch shows. Looking down again should put the near one and the ground at my feet in view to confirm I am beside it.", + "The capped lamp pillar by the garage apron corner, beside the porch, stands directly at my feet. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000252_y-001877_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000252_y-001877_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60ca74157f380490b1568e8aebc79c8782e3ead1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000252_y-001877_z000168_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "First go to the potted plant near the refrigerator, then move to the kitchen faucet.", + "Type": 3, + "Start_Pose": [ + 251.788, + -1877.383, + 168.15, + -0.301, + -179.078, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 251.788, + -1877.383, + 168.15, + -0.301, + -179.078, + 0.0 + ], + [ + 125.947, + -1879.408, + 168.15, + -0.301, + -179.078, + -0.0 + ], + [ + 125.947, + -1879.408, + 168.15, + -0.301, + -154.078, + -0.0 + ], + [ + 15.364, + -1888.535, + 168.15, + -0.301, + -154.078, + -0.0 + ], + [ + 15.364, + -1888.535, + 168.15, + -0.301, + -129.078, + -0.0 + ], + [ + -67.537, + -1973.452, + 168.15, + -0.301, + -129.078, + -0.0 + ], + [ + -113.813, + -2059.585, + 168.149, + -0.301, + -129.078, + -0.0 + ], + [ + -112.323, + -2145.064, + 168.149, + -0.301, + -129.078, + -0.0 + ], + [ + -112.323, + -2145.064, + 168.149, + -0.301, + -129.078, + -0.0 + ], + [ + -54.077, + -2073.336, + 168.149, + -0.301, + -129.078, + -0.0 + ], + [ + -54.077, + -2073.336, + 168.149, + -0.301, + -154.078, + -0.0 + ], + [ + -54.077, + -2073.336, + 168.149, + -0.301, + -179.078, + 0.0 + ], + [ + -54.077, + -2073.336, + 168.149, + -0.301, + 155.922, + -0.0 + ], + [ + -54.077, + -2073.336, + 168.149, + -0.301, + 130.922, + -0.0 + ], + [ + -54.077, + -2073.336, + 168.149, + -0.301, + 105.922, + -0.0 + ], + [ + -88.603, + -1952.307, + 168.149, + -0.301, + 105.922, + -0.0 + ], + [ + -117.476, + -1831.337, + 168.149, + -0.301, + 105.922, + -0.0 + ], + [ + -120.38, + -1711.115, + 168.149, + -0.301, + 105.922, + -0.0 + ], + [ + -120.38, + -1711.115, + 168.149, + -0.301, + 130.922, + -0.0 + ], + [ + -120.38, + -1711.115, + 168.149, + -0.301, + 155.922, + 0.0 + ], + [ + -120.38, + -1711.115, + 168.149, + -0.301, + 155.922, + 0.0 + ] + ], + "Rationale": [ + "The kitchen counters stretch ahead of me and the cream refrigerator stands at the far right end, with a leafy potted plant tucked beside it. That plant is where I need to be first, so I walk straight ahead to cut down the long open distance across the room.", + "Closer in, the counter run fills my view and the refrigerator has slid to the right edge, which means my heading is drifting past the corner I want. I will turn right so the refrigerator and the plant beside it come back toward the center of my path.", + "The turn brought the refrigerator and the potted plant next to it into clear view ahead and slightly right, with clear floor between us. I walk forward to close that remaining gap toward the corner where the plant sits.", + "The refrigerator now looms on my right with the plant just beyond it, while my heading still points down the cabinet run to the left. Turning right should square me up on the plant so I can walk directly at it.", + "Now the refrigerator sits ahead with the potted plant right beside it in the alcove next to the bookshelves. The floor between us is clear, so I step forward to close on the plant.", + "The refrigerator has grown large on the left and the plant's leaves are now clearly visible in the gap beside it. I am still a couple of paces short of standing at the plant, so I keep walking forward.", + "I am right alongside the refrigerator door now, and the potted plant's leaves show in the narrow gap ahead between the appliance and the bookcase. One more step forward should put me level with the plant itself.", + "The potted plant's leaves are right in front of me in the corner beside the refrigerator, close enough to touch. I have reached the plant by the refrigerator, so I mark arriving here before setting off for the kitchen sink faucet.", + "Standing right at the potted plant beside the refrigerator, the corner wall, foliage and bookcase fill my view at arm's length, leaving no room to swing around. I will step back to open clearance so I can reorient toward the kitchen counter and its sink.", + "With a little space regained, the plant and bookcase sit ahead while the refrigerator edge shows at my left, and the kitchen counters lie farther that way. I will turn left to bring the working side of the kitchen and its sink back into view.", + "The refrigerator now stands squarely in front of me with only a sliver of countertop and plates at the left. The faucet must be much farther along that counter run, so I will keep turning left to swing my heading down the kitchen.", + "The counter with the striped jars and plates has come into view on my left, but the refrigerator still blocks most of my forward heading. Another left turn should put the long counter run ahead of me instead of beside me.", + "The countertop, dishwasher and range now stretch away to my left while the refrigerator has slid to the right edge. I will turn left again to face straight down that counter, where the sink should be at the far end.", + "Looking along the counter I can now make out the window and a slender faucet above the basin at the far end of the run. One more left turn should center that aisle so I can walk straight toward the sink.", + "The kitchen aisle now opens ahead with the window, table and the counter running along my right toward the sink. I am aligned with that clear floor lane, so I will walk forward to close the distance to the faucet.", + "The faucet over the double basin is clearly ahead on my right, closer now, with the walkway still unobstructed. I will keep walking forward to draw level with the sink.", + "The double sink basin with its curved faucet is now close along the counter to my right, but I am still slightly short of standing beside it. I will step forward once more to draw level with the basin.", + "My forward step has carried me level with the counter, so I am now facing blank wall with only the edge of the sink counter showing at the lower right. Turning right should swing the basin and its faucet back into the center of my view.", + "The sink basin has come into the lower right of my view, but the faucet itself is still beyond the right edge. Another turn to the right should bring the tap squarely in front of me.", + "The kitchen faucet stands directly before me at the edge of the sink basin, within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000265_y-002032_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000265_y-002032_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a78f152b4e3a168b6011f1cb48fcb07904b9f7d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000265_y-002032_z000168_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the area near the kitchen faucet.", + "Type": 0, + "Start_Pose": [ + 264.695, + -2032.317, + 167.901, + -0.301, + 123.768, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 264.695, + -2032.317, + 167.901, + -0.301, + 123.768, + -0.0 + ], + [ + 225.071, + -1930.381, + 167.901, + -0.301, + 123.768, + 0.0 + ], + [ + 225.071, + -1930.381, + 167.901, + -0.301, + 148.768, + -0.0 + ], + [ + 153.494, + -1862.044, + 167.901, + -0.301, + 148.768, + -0.0 + ], + [ + 45.877, + -1796.787, + 169.125, + -0.301, + 148.768, + -0.0 + ], + [ + -62.597, + -1736.089, + 169.125, + -0.301, + 148.768, + -0.0 + ], + [ + -62.597, + -1736.089, + 169.125, + -0.301, + 173.768, + 0.0 + ], + [ + -120.426, + -1724.241, + 168.149, + -0.301, + 173.768, + 0.0 + ], + [ + -120.426, + -1724.241, + 168.149, + -0.301, + 173.768, + 0.0 + ] + ], + "Rationale": [ + "From the living room I can already see the kitchen counter on the right side of the room, with a sink and faucet under the upper cabinets. A sofa sits close on my right, so I will move straight ahead through the open floor to close distance toward the kitchen area.", + "The sink and faucet now sit toward the right edge of my view while my heading points more at the dining window wall. I will turn right to bring the counter and faucet nearer the center of my path before advancing further.", + "The kitchen run with the faucet and basin is now centered ahead of me, and the floor between me and the cabinets is clear. I will move forward to shorten the distance to the sink counter.", + "The faucet and its counter are noticeably larger and still slightly right of center, but I am not yet within arm's reach of the sink area. Another forward step should bring me close to the counter edge near the faucet.", + "The double sink and faucet now fill much of my view just ahead on the counter, and the cabinets are close but not yet immediately in front of me. I will take one more step forward to stand right at the sink counter.", + "I am now standing right at the counter, but the faucet sits toward the right of my view with blank wall filling the left side. I will turn right to face the faucet and sink squarely.", + "The faucet and both basins are centered directly in front of me at counter height. A short forward step should place me immediately at the faucet position rather than a stride back from it.", + "The kitchen faucet and sink basins are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000269_y-000779_z000116_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000269_y-000779_z000116_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1c5bc674bbfcfbefd1d1af14567b60f8ac77305 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000269_y-000779_z000116_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Cross the lawn to the dark front door on the blue house's porch and open it.", + "Type": 4, + "Start_Pose": [ + 269.0, + -778.648, + 115.64, + 0.0, + -125.827, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 269.0, + -778.648, + 115.64, + 0.0, + -125.827, + 0.0 + ], + [ + 269.0, + -778.648, + 115.64, + 0.0, + -100.827, + 0.0 + ], + [ + 245.358, + -902.267, + 123.807, + 0.0, + -100.827, + 0.0 + ], + [ + 221.716, + -1025.885, + 131.973, + 0.0, + -100.827, + 0.0 + ], + [ + 198.074, + -1149.504, + 144.62, + 0.0, + -100.827, + 0.0 + ], + [ + 198.074, + -1149.504, + 144.62, + 0.0, + -75.827, + 0.0 + ], + [ + 228.891, + -1271.532, + 148.188, + 0.0, + -75.827, + 0.0 + ], + [ + 259.708, + -1393.56, + 148.188, + 0.0, + -75.827, + 0.0 + ], + [ + 290.524, + -1515.588, + 165.1, + 0.0, + -75.827, + 0.0 + ], + [ + 290.524, + -1515.588, + 165.1, + 0.0, + -75.827, + 0.0 + ], + [ + 318.501, + -1554.709, + 165.15, + 0.0, + -75.827, + 0.0 + ], + [ + 318.501, + -1554.709, + 165.15, + 0.0, + -100.827, + 0.0 + ], + [ + 318.501, + -1554.709, + 165.15, + 0.0, + -125.827, + 0.0 + ], + [ + 318.501, + -1554.709, + 165.15, + 0.0, + -125.827, + 0.0 + ], + [ + 318.501, + -1554.709, + 165.15, + 0.0, + -125.827, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The blue house's porch with the dark front door sits toward the right edge of my view, while the lawn and shrubbery fill the left side. I will turn right so the door and the concrete walkway leading to it come into the center of my heading before I start crossing.", + "The dark front door is now near the middle of my view with the walkway running straight ahead toward the porch steps. I will move forward across the lawn to close the large remaining distance to that door.", + "The porch roof and the dark door have grown noticeably larger, so my heading along the walkway is carrying me toward the target. Nothing blocks the path ahead, so I will continue forward to shorten the gap.", + "The porch decking and door frame now dominate my view, but I am still out on the walkway rather than within reach of the door. I will advance again to get close enough that the handle would be actionable.", + "At this range the dark door has drifted to the right of my center, with a planter and flowering shrub crowding the left of my view. I will turn right to square my heading on the door before pressing closer to it.", + "The dark front door on the blue house's porch is now framed almost straight ahead with the walkway leading up to it. I will move forward along that line to close the remaining distance to the porch deck and the door.", + "I am now on the porch decking with the closed door clearly ahead and slightly left, its brass knob visible. Another step forward should bring me near enough to the door to reach the handle.", + "The door now dominates the left side of my view and the knob and latch plate are plainly visible, but I still seem a little short of contact range. I will step forward once more to place myself directly at the door before trying the handle.", + "I am right up against the door with the brass knob and latch filling the near view, so this should be within reach. I will attempt to open the door now.", + "My attempt at the handle left the door exactly as it was, still closed with the knob unmoved. My view is also skewed toward the frame edge and the siding beside it, so I will edge forward to change my position relative to the latch before trying again.", + "My view now shows only blank clapboard siding, so the last bit of forward motion put me past the doorway and facing the wall beside it, and my earlier attempt at the handle left the door shut. The door frame was to my left before I drifted off it, so I will turn left to bring the dark door back into view.", + "The door edge, white casing and brass knob have come back into view, but they sit at the far left margin with siding still filling most of my forward field. I will turn left once more to center the door panel and knob ahead of me before trying the handle again.", + "The dark door panel with its glass lights now fills my view and the brass knob sits squarely in front of me at close range, which is a far better alignment than when my earlier attempt at the handle left the door unchanged. I will attempt to open the door from this squared-up position, and it should give this time.", + "The dark front door stands swung inward, revealing the lit living room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000284_y-002110_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000284_y-002110_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..855f9626f459e6f0d07180fbd527f974f4ba0c6e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000284_y-002110_z000168_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk down the hallway to the closed door at the far end.", + "Type": 0, + "Start_Pose": [ + 283.748, + -2109.848, + 168.15, + -0.301, + 0.131, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 283.748, + -2109.848, + 168.15, + -0.301, + 0.131, + 0.0 + ], + [ + 409.605, + -2109.56, + 168.15, + -0.301, + 0.131, + 0.0 + ], + [ + 535.462, + -2109.272, + 168.15, + -0.301, + 0.131, + 0.0 + ], + [ + 661.319, + -2108.985, + 168.829, + -0.301, + 0.131, + 0.0 + ], + [ + 787.176, + -2108.697, + 168.829, + -0.301, + 0.131, + 0.0 + ], + [ + 913.032, + -2108.409, + 168.829, + -0.301, + 0.131, + 0.0 + ], + [ + 1038.889, + -2108.121, + 168.829, + -0.301, + 0.131, + 0.0 + ], + [ + 1164.746, + -2107.834, + 168.829, + -0.301, + 0.131, + 0.0 + ], + [ + 1249.858, + -2117.529, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 1249.858, + -2117.529, + 168.149, + -0.301, + 0.131, + 0.0 + ] + ], + "Rationale": [ + "From the near end of the hallway I can see a closed white door centered at the far end, straight down the runner rug. My heading already lines up with the corridor axis, so no turning is needed. I will move forward to begin closing the long distance to that door.", + "The target door still sits ahead near the center of my view and the hallway remains clear of furniture along the rug. The dresser and bench have slid to the edges of my view, confirming that straight travel is working. I will continue forward along the same heading.", + "The closed door at the end of the hall is noticeably larger now, so distance is dropping steadily. The console table on the left and the paneled door on the right are outside my path along the rug. I keep pushing forward without adjusting heading.", + "The far door remains squarely ahead with its knob now becoming visible, which tells me my alignment is still good. There is still a fair stretch of corridor and rug between me and it. Another forward step should continue reducing that gap.", + "The door panels and brass knob are clearly resolved now and the end wall fills much of my view. I am close, but not yet within a natural stopping position in front of the door. I will advance again to keep closing in.", + "The closed door now dominates my view with the light switch beside it, so only a short stretch of floor remains. The door is slightly left of center, but the corridor still runs straight into it. I will step forward once more rather than turn.", + "The door frame now spans my whole view and the floor in front of it is nearly gone, so I am almost at the end of the hallway. It is still shut, with the knob unturned. One more forward step should bring me right up against it.", + "I am directly facing the closed door's panels with the knob and deadbolt in reach height at the right of my view. A final short advance should settle me squarely in front of it at the hallway's end.", + "The closed door's deadbolt and knob fill my view at arm's length, still shut. The task is complete, so I stop here rather than press further into the door." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000286_y-001717_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000286_y-001717_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..682a624a0f0232f27d0efe61ed91318b35fabf72 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000286_y-001717_z000168_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the stove.", + "Type": 0, + "Start_Pose": [ + 286.11, + -1716.903, + 168.149, + -0.301, + -150.501, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 286.11, + -1716.903, + 168.149, + -0.301, + -150.501, + 0.0 + ], + [ + 176.413, + -1778.876, + 168.149, + -0.301, + -150.501, + -0.0 + ], + [ + 66.872, + -1840.849, + 168.374, + -0.301, + -150.501, + -0.0 + ], + [ + 66.872, + -1840.849, + 168.374, + -0.301, + -175.501, + 0.0 + ], + [ + -58.598, + -1850.722, + 168.374, + -0.301, + -175.501, + 0.0 + ], + [ + -117.455, + -1859.252, + 168.149, + -0.301, + -175.501, + 0.0 + ], + [ + -117.455, + -1859.252, + 168.149, + -0.301, + -175.501, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the kitchen counter run along the left wall, with the gas burners and range hood roughly ahead of me beyond the dining table. The path across the open floor looks clear, so I will move forward to close the large gap toward that stove area.", + "The counter with the burners and the hood above it is now noticeably larger ahead of me, confirming I am heading the right way. There is still several steps of clear floor before the cabinets, so I will advance again.", + "The stove with its burners and the oven below now sits at the left edge of my view, while the refrigerator and bookshelves fill the center and right. I will turn left so the cooktop is centered in front of me before I step in any closer.", + "After the turn the burners, oven door, and hood are centered ahead of me along the counter run. I am still a couple of steps back from the cabinet face, so I will move forward to close that remaining distance.", + "The cooktop and the oven beneath it now fill the lower center of my view, though the counter edge is still slightly out of reach. One more short step forward should bring me right up to the stove.", + "The gas burners are directly in front of me at arm's length along the counter. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000286_y-001840_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000286_y-001840_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b18fb16b2a79599716e083295a0cde9dc0b16a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000286_y-001840_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the area and go to the television.", + "Type": 1, + "Start_Pose": [ + 285.664, + -1839.731, + 168.15, + -0.148, + 89.389, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 285.664, + -1839.731, + 168.15, + -0.148, + 89.389, + 0.0 + ], + [ + 285.664, + -1839.731, + 168.15, + -0.148, + 114.389, + -0.0 + ], + [ + 285.664, + -1839.731, + 168.15, + -0.148, + 139.389, + -0.0 + ], + [ + 285.664, + -1839.731, + 168.15, + -0.148, + 164.389, + -0.0 + ], + [ + 285.664, + -1839.731, + 168.15, + -0.148, + -170.611, + -0.0 + ], + [ + 285.664, + -1839.731, + 168.15, + -0.148, + -145.611, + -0.0 + ], + [ + 285.664, + -1839.731, + 168.15, + -0.148, + -120.611, + -0.0 + ], + [ + 225.228, + -1947.837, + 168.15, + -0.148, + -120.611, + -0.0 + ], + [ + 209.293, + -2052.887, + 168.15, + -0.148, + -120.611, + -0.0 + ], + [ + 154.781, + -2152.99, + 168.15, + -0.148, + -120.611, + -0.0 + ], + [ + 154.781, + -2152.99, + 168.15, + -0.148, + -120.611, + -0.0 + ], + [ + 154.781, + -2152.99, + 168.15, + -0.148, + -120.611, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a closed exterior door with a small window pane and a pair of white closet doors, so there is no television anywhere in view. I will turn right to begin a consistent scan of the room and open up the space beside this doorway.", + "The rotation has brought a dining table with chairs and a curtained window into view, but still no television. Since this looks like the eating area of a larger living space, I will keep turning right in the same direction to reveal more of the room.", + "Now the kitchen counter, sink and cabinets are coming into view next to the dining table, and there is no television on these walls. Continuing the same rightward scan should carry my view past the kitchen toward the rest of the open living space.", + "The full kitchen run with oven, dishwasher and upper cabinets is in front of me and clearly holds no television. A pale upholstered piece is appearing at the right edge, suggesting a seating area beyond, so I will keep turning right toward it.", + "A sofa, a tall plant and built-in bookshelves with a chandelier are now on the right, which is a strong cue that this is the living area where a television would be mounted. I will continue the rightward turn to bring that seating area fully into view.", + "I can now see a flat television with a lit blue screen mounted above the fireplace, off to the right side of my view. I will turn right once more to bring it near the center of my view so I can walk straight at it.", + "The television above the fireplace mantel is now roughly centered ahead of me, with clear open floor between me and it past the armchair on the left. I will step forward along this heading to close the distance to the target.", + "The screen and the fireplace below it have grown noticeably larger, confirming the previous step moved me toward the television. Only the small wooden table sits off to the side of my path, so I will keep walking forward to get close to the target.", + "The television is clearly mounted above the fireplace and sits centered in my view, so the target is confirmed and needs no further searching. I am still a short distance back from the mantel, so I will step forward again to close that remaining gap and stand directly at the television.", + "I am now right up against the fireplace, and my view is filled by the mantel trim and tile with the television no longer framed. Since the screen is mounted high on the wall above me, I will tilt my gaze upward to bring it back into view and confirm I am standing at it.", + "The television is directly overhead in view, its lit screen and casing within arm's reach above the mantel. The task is complete, so I stop here at the target." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000289_y000354_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000289_y000354_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff366ef4bdec60d66013118681b4114c735d5b5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000289_y000354_z000098_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the large tree on your right.", + "Type": 2, + "Start_Pose": [ + 288.677, + 354.028, + 98.112, + 0.0, + 127.514, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 288.677, + 354.028, + 98.112, + 0.0, + 127.514, + -0.0 + ], + [ + 288.677, + 354.028, + 98.112, + 0.0, + 152.514, + -0.0 + ], + [ + 177.025, + 412.116, + 99.755, + 0.0, + 152.514, + -0.0 + ], + [ + 65.372, + 470.204, + 104.597, + 0.0, + 152.514, + -0.0 + ], + [ + 65.372, + 470.204, + 104.597, + 0.0, + 177.514, + -0.0 + ], + [ + -60.369, + 475.663, + 105.007, + 0.0, + 177.514, + -0.0 + ], + [ + -186.109, + 481.122, + 105.418, + 0.0, + 177.514, + -0.0 + ], + [ + -186.109, + 481.122, + 105.418, + 0.0, + 177.514, + -0.0 + ] + ], + "Rationale": [ + "From the driveway, the big broad trunk stands off to my right, past the parked red car and the hedge line. I will turn right to bring that thick-trunked tree near the curb into the center of my view before walking toward it.", + "The heavy trunk by the curb is now roughly ahead of me with clear driveway and sidewalk between us. I will walk forward to close that distance.", + "The trunk by the curb has grown noticeably wider in my view, so I am closing on it but still short of it. I will keep walking forward along the open pavement toward that tree.", + "The thick trunk has drifted toward the right side of my view as I advanced, and its base sits in the grass strip ahead to my right. I will turn right to face it directly before stepping the last stretch.", + "The big tree now stands squarely ahead, rooted in the grass strip between sidewalk and road. I will walk forward to close the remaining gap to its trunk.", + "The trunk fills much more of my view now and its bark texture is clearly resolved, so only a short distance remains. I will step forward once more to stand right at the tree.", + "The large tree's trunk fills my view directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000299_y-002110_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000299_y-002110_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..961b3c684d15ddedea8cca89f67c228b6a0a4f8a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000299_y-002110_z000168_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "First walk all the way down the hallway to the door at the far end. Then come back to stop beside the brown two-level side table along the left wall.", + "Type": 3, + "Start_Pose": [ + 298.748, + -2109.813, + 168.149, + -0.301, + 0.131, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 298.748, + -2109.813, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 424.605, + -2109.525, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 550.462, + -2109.237, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 676.319, + -2108.95, + 168.909, + -0.301, + 0.131, + 0.0 + ], + [ + 802.176, + -2108.662, + 168.909, + -0.301, + 0.131, + 0.0 + ], + [ + 928.032, + -2108.374, + 168.909, + -0.301, + 0.131, + 0.0 + ], + [ + 1053.889, + -2108.086, + 168.909, + -0.301, + 0.131, + 0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + 0.131, + 0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + 0.131, + 0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + -24.869, + -0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + -49.869, + -0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + -74.869, + -0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + -99.869, + 0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + -124.869, + 0.0 + ], + [ + 1179.746, + -2107.799, + 168.585, + -0.301, + -149.869, + 0.0 + ], + [ + 1070.895, + -2170.976, + 168.867, + -0.301, + -149.869, + 0.0 + ], + [ + 964.54, + -2220.013, + 167.958, + -0.301, + -149.869, + 0.0 + ], + [ + 964.54, + -2220.013, + 167.958, + -0.301, + -149.869, + 0.0 + ] + ], + "Rationale": [ + "The hallway runs straight ahead with a white door closing off the far end, and the striped runner marks a clear path toward it. Nothing blocks the corridor, so I will walk forward along the rug to begin covering that distance.", + "The far white door has grown slightly larger and stays centered in my view, confirming my heading down the corridor is correct. The floor ahead remains clear between the side table on the left and the bench on the right, so I will keep walking forward.", + "I am now passing the wooden side table with candles on my left, and the white door still sits squarely down the corridor's axis. There is plenty of open hallway left to cover, so I will continue advancing.", + "The corridor has narrowed in view and the white door with its brass handle is clearly closer and still dead ahead. No correction of heading is needed, so I will step forward again toward the end of the hall.", + "The panelled door and the light switch beside it are plainly resolved now, so only a short stretch of hallway remains. I will keep walking straight to close that remaining gap.", + "The end wall and its white door now fill most of my view, with the runner ending just short of the threshold. I am not yet at the door, so I will advance once more.", + "The white door occupies nearly the whole view and its lever handle is at arm's-length scale, so I stand only a step from the end of the hallway. I will take that final step to bring myself right up to the door.", + "The panelled white door and its brass lever are directly in front of me, close enough to touch, with the hallway behind me. I have reached the door at the far end. I mark reaching it and now turn my attention back up the corridor to the brown two-level side table against the left wall.", + "The white door at the end of the hallway fills my view at arm's length, so this end of the corridor holds nothing more for me. I will turn left to start swinging my heading away from this wall and back up the passage, where the brown two-level side table stands against the wall.", + "The door has slid to the right side of my view and dim wall now occupies the left, so I have rotated only a small part of the way around. I will keep turning left to bring the open corridor into view.", + "Now I am looking straight into the corner where the end wall meets the side wall, with only the door edge left at the right margin. There is still no passage in front of me, so I continue turning left.", + "A framed picture on the side wall has come into the left of my view, which means my heading is sweeping along the wall rather than down the corridor. Another left turn should carry my facing further around toward the open hallway.", + "The framed picture now sits square in the middle of my view and the wall still blocks everything ahead, so I am not yet aimed along the passage. I will turn left again to keep bringing the corridor around into view.", + "The corridor is finally opening at the left edge of my view, with a sconce, the runner and the brown two-level table with its candles showing in the distance. One more left turn should put that stretch of hallway squarely in front of me so I can walk it.", + "I am now facing straight up the hallway with the striped runner leading away and the brown two-level side table with candles standing partway along the wall ahead of me. I will walk forward to close that gap.", + "The brown two-level side table with its candles and vase is now close, just ahead and a little to my left, though I am not yet level with it. One more step forward should bring me alongside it.", + "The brown two-level side table with its candles and vase stands right beside me at the left wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000332_y000298_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000332_y000298_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ffe9a4a5245cc544729c2486d5349364846400f2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000332_y000298_z000098_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First move to the large tree beside the driveway, then continue on to the red car parked in front of the garage.", + "Type": 3, + "Start_Pose": [ + 331.653, + 298.049, + 98.112, + 0.0, + 127.514, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 331.653, + 298.049, + 98.112, + 0.0, + 127.514, + -0.0 + ], + [ + 331.653, + 298.049, + 98.112, + 0.0, + 152.514, + -0.0 + ], + [ + 220.001, + 356.137, + 98.112, + 0.0, + 152.514, + -0.0 + ], + [ + 108.348, + 414.225, + 99.932, + 0.0, + 152.514, + -0.0 + ], + [ + 108.348, + 414.225, + 99.932, + 0.0, + 177.514, + -0.0 + ], + [ + -17.393, + 419.684, + 100.342, + 0.0, + 177.514, + -0.0 + ], + [ + -143.133, + 425.143, + 100.753, + 0.0, + 177.514, + -0.0 + ], + [ + -143.133, + 425.143, + 100.753, + 0.0, + 177.514, + -0.0 + ], + [ + -143.133, + 425.143, + 100.753, + 0.0, + 152.514, + -0.0 + ], + [ + -143.133, + 425.143, + 100.753, + 0.0, + 127.514, + -0.0 + ], + [ + -143.133, + 425.143, + 100.753, + 0.0, + 102.514, + -0.0 + ], + [ + -143.133, + 425.143, + 100.753, + 0.0, + 77.514, + -0.0 + ], + [ + -115.922, + 548.026, + 111.098, + 0.0, + 77.514, + -0.0 + ], + [ + -88.711, + 670.908, + 114.122, + 0.0, + 77.514, + -0.0 + ], + [ + -61.501, + 793.79, + 116.646, + 0.0, + 77.514, + -0.0 + ], + [ + -61.501, + 793.79, + 116.646, + 0.0, + 77.514, + -0.0 + ] + ], + "Rationale": [ + "The big tree with the thick trunk stands off to my right at the edge of the driveway, near the street, while my body faces the house and the parked car. I will turn right to bring that tree and the open driveway pavement in front of me before walking toward it.", + "With the driveway now stretching ahead and the tall trunk standing up on the right by the curb, my path toward it is clear pavement. I will step forward to close the gap to that tree.", + "The big trunk by the curb has grown noticeably larger and the hedge and grass strip beside it are closer, so I am still short of it. Another step forward should bring me nearer to the base of that tree.", + "The tree trunk sits ahead and slightly to my right, and the sidewalk running along the curb continues that way. Turning right should put the trunk and the walkway beside it squarely in front of me for the last stretch.", + "Now the tall trunk and its fern bed are lined up ahead along the curb strip with clear sidewalk beside them. I will walk forward to draw level with the tree.", + "The trunk fills much more of my view and the ferns at its base are close underfoot, but I am not yet alongside it. One more step should bring me right up beside the tree.", + "The massive trunk rises directly beside me at arm's length, its bark filling my view where the grass strip meets the driveway edge. I am standing at the large tree by the driveway, so I mark reaching it and now set out for the red car parked in front of the garage.", + "Standing at the tree, my view is aimed down the street away from the house, while the garage and the red car sit back to my left behind the hedge. I will turn left to begin swinging my heading toward that driveway and the car.", + "Standing right at the broad trunk of the roadside tree, I now need the red car by the garage, and only a corner of a pale roof shows past the hedge to my left. I will turn left again to swing my view along the driveway side of the property.", + "The white garage door has come into the left edge of my view, but the hedge and driveway still fill most of the frame and no red car is visible yet. Another left turn should bring the parked car in front of that garage into sight.", + "The red car is now visible on the left, parked on the driveway in front of the open garage bay. I will turn left once more so it sits ahead of me and I can walk straight at it.", + "The red car now sits squarely ahead of me on the driveway with the garage doors behind it, and the concrete between us is clear. I will walk forward to close that gap.", + "The car has grown noticeably larger and its rear plate is legible, yet several strides of driveway still separate us. I keep walking straight ahead toward it.", + "The red car's rear bumper now dominates my view with the garage just beyond it, so I am nearly alongside. One more step forward should bring me right up to it.", + "I am standing right beside the red car parked in front of the garage door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000348_y001942_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000348_y001942_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af0203d200f669bd389f062d80ed355befd1d353 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000348_y001942_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the rightmost of the two metal shelving units beside the garage door.", + "Type": 2, + "Start_Pose": [ + 348.101, + 1942.289, + 168.15, + -0.05, + -168.361, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 348.101, + 1942.289, + 168.15, + -0.05, + -168.361, + -0.0 + ], + [ + 224.83, + 1916.898, + 168.15, + -0.05, + -168.361, + -0.0 + ], + [ + 224.83, + 1916.898, + 168.15, + -0.05, + -143.361, + -0.0 + ], + [ + 123.839, + 1841.789, + 168.15, + -0.05, + -143.361, + -0.0 + ], + [ + 22.849, + 1766.68, + 168.15, + -0.05, + -143.361, + -0.0 + ], + [ + -78.142, + 1691.571, + 168.15, + -0.05, + -143.361, + -0.0 + ], + [ + -78.142, + 1691.571, + 168.15, + -0.05, + -168.361, + -0.0 + ], + [ + -139.837, + 1668.946, + 168.15, + -0.05, + -168.361, + -0.0 + ], + [ + -139.837, + 1668.946, + 168.15, + -0.05, + -168.361, + -0.0 + ] + ], + "Rationale": [ + "Two metal shelving units stand side by side against the far wall, and since they look nearly alike, I fix on the one standing closest to the garage door on the right. It is far across the open floor, so I walk straight ahead to close that distance.", + "The shelving unit beside the garage door sits right of my heading, while my path is drifting toward the workbenches and cabinets on the left. I turn right to put that unit ahead of me before continuing.", + "The shelving unit next to the garage door now lies ahead of me with clear floor between us. I step forward to keep closing on it.", + "The loaded shelves have grown noticeably larger and their crates are now legible, so I am still short of them. I continue walking forward toward the unit standing against the garage door wall.", + "The shelving unit beside the garage door now fills much of the left half of my view, but I am not yet standing at it. Another step forward should bring me to its face.", + "At this close range the shelving unit has slid to my left while the garage door dominates the right of my view. I turn left so the shelves sit squarely in front of me.", + "The shelving unit now faces me directly, with its crates, boxes and paper sacks filling my view. A short step forward should place me right at it.", + "The loaded shelf sits within arm's reach directly in front of me. I have arrived at the target shelving unit, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000348_y001942_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000348_y001942_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fdebd470bfc243540604c5989c8df6bba21a277f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000348_y001942_z000168_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the table in the far left corner, then proceed to the rightmost shelf unit.", + "Type": 3, + "Start_Pose": [ + 348.101, + 1942.289, + 168.15, + -0.05, + -168.361, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 348.101, + 1942.289, + 168.15, + -0.05, + -168.361, + -0.0 + ], + [ + 348.101, + 1942.289, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + 225.649, + 1971.373, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + 103.196, + 2000.457, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + -19.256, + 2029.542, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + -141.709, + 2058.626, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + -141.709, + 2058.626, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + -51.81, + 2037.273, + 168.15, + -0.05, + 166.639, + -0.0 + ], + [ + -51.81, + 2037.273, + 168.15, + -0.05, + -168.361, + -0.0 + ], + [ + -51.81, + 2037.273, + 168.15, + -0.05, + -143.361, + -0.0 + ], + [ + -51.81, + 2037.273, + 168.15, + -0.05, + -118.361, + -0.0 + ], + [ + -111.596, + 1926.521, + 168.15, + -0.05, + -118.361, + -0.0 + ], + [ + -111.596, + 1926.521, + 168.15, + -0.05, + -93.361, + 0.0 + ], + [ + -118.974, + 1800.879, + 168.15, + -0.05, + -93.361, + 0.0 + ], + [ + -118.974, + 1800.879, + 168.15, + -0.05, + -118.361, + 0.0 + ], + [ + -139.908, + 1693.118, + 168.15, + -0.05, + -118.361, + 0.0 + ], + [ + -139.908, + 1693.118, + 168.15, + -0.05, + -118.361, + 0.0 + ] + ], + "Rationale": [ + "The work tables under the wall cabinets sit in the corner to my left, well off my current heading. I will turn left so that corner comes toward the middle of my view and I can walk straight at it.", + "The corner with the wooden work tables and the lit wall cabinets now lies ahead of me, with open floor between us. I will walk forward to close that distance.", + "The tables and the strip light under the cabinets are noticeably larger than before, so my heading is carrying me straight into that corner. Plenty of bare floor still separates me from them, so I will keep walking forward.", + "The two benches and the sack on the smaller table are clearly resolved now, but I am still several paces short of standing at them. Another step forward should bring me up to that corner.", + "The bench top, the small box beneath it and the cabinets above fill most of my view, so I am nearly at the corner. One more step forward should put me right at the table's edge.", + "The bench top and the strip light beneath the cabinets are right in front of my face, with the corner wall pressed close on my left. I have reached the work table in the far left corner, so I mark arriving here before setting off toward the tall shelf unit at the right end of the garage.", + "Standing this close to the bench, the cabinet face blocks nearly everything and I cannot pick out a route across the garage. Backing up a step should give me clearance and a wider view before I swing toward the shelving on the far side.", + "With space regained I can see the benches and cabinets in the corner again, but the shelving I want lies well off to my right. I will turn right to begin swinging my heading away from this corner and toward that side of the garage.", + "Having marked the corner workbench, I am now swinging away from the wall cabinets toward the storage racks. The edge of a metal shelving unit with blue bins is just entering the right side of my view, so I will turn right again to bring that row of shelves in front of me.", + "Two shelving units are now in view along the wall, with the pale garage door showing beyond them on the right. The far unit sits nearer the door, so I will turn right once more to face down that side of the room before walking.", + "The shelving row now lies ahead and slightly left, with clear open floor between me and it and the garage door on the right. I will walk forward to close that gap and reach the racks.", + "I am close to the shelves now, and their loaded bins crowd the left of my view while the aisle toward the garage door opens on the right. Turning right should line me up along the run of racks so I can continue to the last unit at the end.", + "The shelf frame now runs down my left side and the aisle ahead is clear toward the garage door. I will step forward along this aisle to draw level with the furthest shelving unit.", + "I have come alongside the end of the shelving run, but the big door panel now dominates my view while the racks sit off at my left. I will turn left to square up on that last shelving unit.", + "The end shelving unit is now angled in front of me on the left, its blue bins and boxes clearly readable, with floor still open between us. A short walk forward should bring me right up beside this last rack next to the door.", + "I stand at arm's length from the end shelving unit beside the garage door, its stacked containers filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..37421cf00f2fa946d511c812c8a085355aa08526 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t3_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "First go to the sofa, then go to the main door.", + "Type": 3, + "Start_Pose": [ + 364.828, + -2176.132, + 168.149, + -0.148, + 119.149, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 364.828, + -2176.132, + 168.149, + -0.148, + 119.149, + 0.0 + ], + [ + 364.828, + -2176.132, + 168.149, + -0.148, + 144.149, + -0.0 + ], + [ + 262.814, + -2102.419, + 168.149, + -0.148, + 144.149, + -0.0 + ], + [ + 262.814, + -2102.419, + 168.149, + -0.148, + 144.149, + -0.0 + ], + [ + 262.814, + -2102.419, + 168.149, + -0.148, + 119.149, + -0.0 + ], + [ + 262.814, + -2102.419, + 168.149, + -0.148, + 94.149, + 0.0 + ], + [ + 253.708, + -1976.891, + 168.149, + -0.148, + 94.149, + 0.0 + ], + [ + 244.602, + -1851.362, + 168.149, + -0.148, + 94.149, + 0.0 + ], + [ + 235.496, + -1725.833, + 168.149, + -0.148, + 94.149, + 0.0 + ], + [ + 235.496, + -1725.833, + 168.149, + -0.148, + 94.149, + 0.0 + ] + ], + "Rationale": [ + "From here the pale two seat sofa sits ahead of me but off toward the right side of the room, with the kitchen counters beyond it. I will turn right so the sofa comes to the middle of my view before I walk toward it.", + "The sofa now sits squarely in front of me with clear floor between us and the small round table to its right. I will walk forward to close that gap and reach the sofa.", + "The cushioned back of the cream sofa is right at my feet, filling the lower half of my view with nothing left between us. I have reached the sofa. I mark arriving here, and now I set off for the dark panelled front door.", + "Standing at the sofa I face the kitchen counters and fridge, so the entrance door is nowhere in my current view. I will turn left to swing my heading back toward the side of the room where the dark front door stands.", + "The dark front door with its glass panes is now in sight, but it sits well to the left of my heading rather than in front of me. Another left turn should bring it near the center so I can walk straight at it.", + "The panelled entrance door is centered ahead of me with the dining table on the right and the tall cabinet on the left. The floor between is clear, so I will walk forward to close on it.", + "The door and its white frame have grown noticeably and stay lined up with my heading. I am still several paces short of it, so I will keep walking straight ahead.", + "The door now dominates my view, with its nine glass panes and brass handle plainly visible, yet a short stretch of floor still separates me from the threshold. One more step forward should bring me right up to the entrance.", + "The paneled front door with its brass knob fills my view at arm's length. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a7c2bce7fd6fdc7c7d3373a5ef7b1b83aed8f72 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000365_y-002176_z000168_t5_a_pd/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the jerry can at the sofa, then set it down near the main door.", + "Type": 5, + "Start_Pose": [ + 364.828, + -2176.132, + 168.149, + -0.148, + 119.149, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 171.735, + -1847.326, + 73.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 364.828, + -2176.132, + 168.149, + -0.148, + 119.149, + 0 + ], + [ + 303.524, + -2066.213, + 168.149, + -0.148, + 119.149, + -0.0 + ], + [ + 242.221, + -1956.293, + 168.149, + -0.148, + 119.149, + -0.0 + ], + [ + 242.221, + -1956.293, + 168.149, + 0.0, + 119.149, + -0.0 + ], + [ + 242.221, + -1956.293, + 168.149, + 0.0, + 94.149, + -0.0 + ], + [ + 233.115, + -1830.764, + 168.149, + 0.0, + 94.149, + -0.0 + ], + [ + 233.115, + -1830.764, + 168.149, + 0.0, + 69.149, + -0.0 + ], + [ + 277.914, + -1713.148, + 168.149, + 0.0, + 69.149, + -0.0 + ], + [ + 252.286, + -1780.433, + 168.149, + 0.0, + 69.149, + -0.0 + ], + [ + 252.286, + -1780.433, + 168.149, + 0.0, + 69.149, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 171.735, + -1847.326, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + 171.735, + -1847.326, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + 171.735, + -1847.326, + 73.15, + 0.0, + 0.0, + 0.0 + ], + [ + 223.869, + -1967.227, + 138.257, + -28.202, + 169.293, + 1.862 + ], + [ + 221.917, + -1958.383, + 138.529, + -28.189, + 144.306, + 1.872 + ], + [ + 211.889, + -1833.324, + 138.84, + -28.193, + 144.297, + 1.872 + ], + [ + 213.638, + -1823.502, + 137.676, + -28.202, + 119.29, + 1.858 + ], + [ + 257.801, + -1705.962, + 137.938, + -28.208, + 119.291, + 1.852 + ], + [ + 277.202, + -1715.017, + 118.149, + 0.0, + 69.149, + -0.0 + ], + [ + 277.202, + -1715.017, + 118.149, + 0.0, + 69.149, + -0.0 + ] + ], + "PD_Dist_2D": [ + 381.3, + 255.5, + 129.8, + 21.4, + 20.4, + 21.4, + 20.8, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits on the floor beside the pale sofa, well ahead of me across the room. It is far too distant to grasp from here, so I will walk straight forward to close that gap.", + "The jerry can now stands clearly in front of me near the sofa arm, noticeably larger in view but still a stride or two away. I will continue walking forward to bring it within grasping range.", + "I am now standing right at the sofa with the jerry can immediately below my forward view. This is close enough for a grasp, so I will attempt to pick it up before carrying it toward the main door.", + "The jerry can is now in my hands and no longer resting on the floor by the sofa. The main door lies off to my left, so I will turn left to put that doorway ahead of me for the carry.", + "The dark main door with its glass panes is now visible ahead across the room while I carry the can. I will walk forward to close the remaining distance to that doorway.", + "The door now fills much of my view but sits slightly right of a straight approach, with the wall and cabinets crowding the left edge. Turning left should square my heading with the floor space directly in front of the door where I want to set the can down.", + "The main door stands directly ahead of me with the closet doors beside it, and I am still carrying the jerry can. A short step forward should place me right at the threshold area where the can belongs.", + "I am now right up against the main door, with its handle and frame filling my view at arm's length. This is the spot near the door the task asks for, so I will release the jerry can here.", + "The jerry can rests on the floor right in front of the main door, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000394_y-002066_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000394_y-002066_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f428f6adda97d389b9a8832400565e6c276ac86 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000394_y-002066_z000168_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Walk past the dresser and bench to the white door at the end of the hallway and open it.", + "Type": 4, + "Start_Pose": [ + 393.818, + -2066.308, + 168.258, + 0.0, + -42.478, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 393.818, + -2066.308, + 168.258, + 0.0, + -42.478, + 0.0 + ], + [ + 486.644, + -2151.302, + 168.258, + 0.0, + -42.478, + 0.0 + ], + [ + 486.644, + -2151.302, + 168.258, + 0.0, + -17.478, + 0.0 + ], + [ + 606.692, + -2189.102, + 168.943, + 0.0, + -17.478, + 0.0 + ], + [ + 719.943, + -2224.837, + 168.943, + 0.0, + -17.478, + 0.0 + ], + [ + 719.943, + -2224.837, + 168.943, + 0.0, + 7.522, + -0.0 + ], + [ + 802.418, + -2187.863, + 168.943, + 0.0, + 7.522, + -0.0 + ], + [ + 927.194, + -2171.388, + 168.943, + 0.0, + 7.522, + -0.0 + ], + [ + 1051.97, + -2154.912, + 168.943, + 0.0, + 7.522, + -0.0 + ], + [ + 1176.746, + -2138.436, + 168.943, + 0.0, + 7.522, + -0.0 + ], + [ + 1253.002, + -2123.115, + 168.15, + 0.0, + 7.522, + -0.0 + ], + [ + 1253.002, + -2123.115, + 168.15, + 0.0, + 7.522, + -0.0 + ], + [ + 1253.002, + -2123.115, + 168.15, + 0.0, + 7.522, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The hallway runs ahead past the white dresser on my left, and the white door sits far down at the end on the right side of my view. I will move forward along the open floor to close distance on that door before worrying about heading.", + "After advancing, the white door has drifted to the right edge of my view while my heading points along the left wall and dresser. I will turn right to bring the hallway and the target door into the center of my view.", + "The corridor is now centered, with the striped runner leading straight to the white door at the far end. Nothing blocks the path, so I will move forward down the hallway toward it.", + "The white door has grown larger ahead and the console table with candles stays clear on my left. I will continue forward along the runner to keep closing on the door.", + "From this closer position the white door sits right of my center while the near wall and candle table crowd the left of my view. I will turn right to square my heading with the door before approaching further.", + "The white door is now framed near the middle of the corridor end, with a darker door on the right wall that is not my target. I will move forward along the runner to close in on the white door.", + "The white door fills more of my view and its handle is becoming visible, so I am still short of reach. I will keep moving forward to get within interaction range.", + "The white door and its brass handle are now clearly ahead and well centered, but the doorway is still a step or two away. I will advance again to bring the handle within reach for opening.", + "The white door at the end of the hallway now fills most of my view, roughly centered ahead with its knob and lever slightly right of middle. I am still a short distance short of arm's reach, so I will step forward again along this clear stretch of floor to close the gap.", + "The door panel and its brass lever now dominate my view, and the frame edge on the right shows I am nearly square to the door leaf. One more short forward step should bring the handle within comfortable reach before I try the door.", + "I am now directly at the white door with the knob and lever handle filling the near right of my view at contact range. This is the hallway's end door named in the task, so I will operate the handle and attempt to open it.", + "The door now stands open, revealing the bathroom with tub and toilet beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000408_y000264_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000408_y000264_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02c67f1ff59b57c9c172445cc58124fafd66d28d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000408_y000264_z000098_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the left end of the hedge beside the driveway.", + "Type": 2, + "Start_Pose": [ + 407.857, + 264.266, + 98.112, + 0.0, + 156.091, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 407.857, + 264.266, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 292.798, + 315.275, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 177.739, + 366.284, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 62.68, + 417.292, + 100.278, + 0.0, + 156.091, + -0.0 + ], + [ + -52.379, + 468.301, + 104.523, + 0.0, + 156.091, + -0.0 + ], + [ + -52.379, + 468.301, + 104.523, + 0.0, + 131.091, + -0.0 + ], + [ + -135.101, + 563.157, + 112.468, + 0.0, + 131.091, + -0.0 + ], + [ + -217.823, + 658.013, + 114.167, + 0.0, + 131.091, + -0.0 + ], + [ + -297.57, + 723.756, + 113.949, + 0.0, + 131.091, + -0.0 + ], + [ + -297.57, + 723.756, + 113.949, + 0.0, + 131.091, + -0.0 + ] + ], + "Rationale": [ + "The clipped hedge runs along the front yard on my left, with the driveway and parked red car marking the end nearest me. Its far left end, the one tucked beside the driveway, is still well ahead of me. I will walk forward along the sidewalk to close that distance.", + "The hedge is noticeably larger in my view now, but I am still level with its right portion rather than the end beside the driveway. The sidewalk ahead stays clear of obstructions. I keep stepping forward along it.", + "The hedge now spreads across the left side of my view, yet I am still short of the end where it meets the driveway pavement. Continuing straight keeps me parallel to the row and brings that end abreast of me. I step forward again.", + "The hedge fills the left foreground and the white picket fence beyond it is close, so I am nearly alongside the row. One more forward step should carry me past the tree trunk and level with the driveway side of the hedge. I advance.", + "The hedge sits off to my left while my heading still points straight down the sidewalk, past it. Turning left should swing my view onto the hedge and the driveway pavement where its left end lies. I rotate left to face that end before closing in.", + "The turn worked: the hedge row and the garage driveway now sit squarely in front of me, with the hedge's left end stopping at the grass beside that pavement. I still stand back from it on the walkway. I step forward toward that end.", + "The hedge now dominates my view and its left end is clearly visible against the lawn next to the driveway and garage. I am close but not yet standing at that end. I take another step forward.", + "The leafy wall of the hedge is right in front of me and its left end lies just off my left shoulder near the driveway. A final short step should place me right at that end. I move forward.", + "The hedge's driveway-side end is right at my shoulder, its leaves filling my view. I am standing at that end, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000412_y002138_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000412_y002138_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..40412e25939a4a88da412ccbab75a0abbfc698f1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000412_y002138_z000468_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Open the white paneled door to the right of the small console table on the upstairs landing.", + "Type": 4, + "Start_Pose": [ + 412.302, + 2137.55, + 468.15, + 0.0, + -74.104, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 412.302, + 2137.55, + 468.15, + 0.0, + -74.104, + 0.0 + ], + [ + 446.774, + 2016.504, + 468.15, + 0.0, + -74.104, + 0.0 + ], + [ + 446.774, + 2016.504, + 468.15, + 0.0, + -49.104, + 0.0 + ], + [ + 446.774, + 2016.504, + 468.15, + 0.0, + -24.104, + 0.0 + ], + [ + 561.659, + 1965.104, + 468.15, + 0.0, + -24.104, + 0.0 + ], + [ + 661.73, + 1906.25, + 468.15, + 0.0, + -24.104, + 0.0 + ], + [ + 775.877, + 1869.011, + 468.15, + 0.0, + -24.104, + 0.0 + ], + [ + 775.877, + 1869.011, + 468.15, + 0.0, + -49.104, + 0.0 + ], + [ + 775.877, + 1869.011, + 468.15, + 0.0, + -49.104, + 0.0 + ], + [ + 852.043, + 1851.555, + 468.15, + 0.0, + -49.104, + 0.0 + ], + [ + 852.043, + 1851.555, + 468.15, + 0.0, + -74.104, + 0.0 + ], + [ + 852.043, + 1851.555, + 468.15, + 0.0, + -99.104, + 0.0 + ], + [ + 852.043, + 1851.555, + 468.15, + 0.0, + -124.104, + 0.0 + ], + [ + 852.043, + 1851.555, + 468.15, + 0.0, + -124.104, + 0.0 + ], + [ + 852.043, + 1851.555, + 468.15, + 0.0, + -124.104, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the landing entrance I can see the small console table against the far wall with framed pictures above it, and a white paneled door beyond it near the corner. The gap is still too wide for any interaction, so I will step forward along the open floor to close distance on that wall.", + "Now that I am closer, the console table sits at the right edge of my view and the door I want has slipped out of sight past that edge. I will turn right to swing my heading toward the corner of the landing where that paneled door should reappear.", + "The turn has brought the console table back into view along with two white paneled doors further down the landing, but my heading still points partly into the wall of pictures. I will turn right again to face straight along the open hallway so I can walk toward those doors.", + "I am now looking down the length of the landing, with the console table and its vases beside me and the nearer white paneled door set in the wall just past it. The stair railing marks the open side, so the walkway ahead is clear and I will move forward to reach that door.", + "The paneled door next to the console table is now large in my view but its handle is still ahead of me rather than within reach. I will advance another step along the landing to draw level with that doorway before trying the handle.", + "The tall white paneled door beside the console table is now on my left, but I am still a step short of standing level with its handle. I will move forward once more to close that remaining gap along the landing before turning to face it.", + "I am now level with the paneled door, which fills the left side of my view while my heading still points down the landing toward the far recessed door. Turning left should square me up with the near door's panels and bring its handle into the center of my view for an interaction.", + "The paneled door's lever handle and lock are directly in front of me, so this is the moment to act on the target door beside the console table. I will attempt to open it, though I am quite close and slightly off to one side, so the handle may not be within reach.", + "My attempt on the handle left the door exactly as it was, still shut in front of me, so my position or reach was not adequate. I will step forward to shorten the distance to the leaf and handle before trying again.", + "Pressing in has left me almost against the surface, with only a blurred panel edge and frame filling my view and the open landing off to my right, so I cannot see the handle anymore. I will turn left to swing my heading back onto the door leaf and recover a usable view of its latch after the earlier attempt failed to move it.", + "I am pressed so close to this paneled surface that only a blank stretch of panel fills my view, with no latch or handle anywhere in sight, and my earlier attempt at the door left it shut. Since the handle side must lie further round to my left, I will turn left again to sweep the panel across my view and hunt for the hardware.", + "The recessed panel has slid toward the left edge of my view and a faint vertical edge is appearing on the right, so my heading is shifting across the door face but the handle is still not framed. I will turn left once more to bring the latch side and door jamb into the center of my view before trying the door again.", + "The brass lever handle and its deadbolt are now clearly centered in front of me, with the door jamb and light switch visible just to the left, so I am squarely facing the latch side of this white paneled door. My previous attempt from a poorly aligned heading left the door shut, so from this proper alignment I will try the handle again and expect it to release.", + "The paneled door now stands open, revealing the bathroom with its vanity, toilet, and window. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000415_y002087_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000415_y002087_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dbe437d18cb65ab8bada53fe0fa6bb0efdb287c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000415_y002087_z000468_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the door at the end of the hallway.", + "Type": 0, + "Start_Pose": [ + 414.637, + 2087.069, + 468.15, + -0.301, + -44.278, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 414.637, + 2087.069, + 468.15, + -0.301, + -44.278, + -0.0 + ], + [ + 504.746, + 1999.203, + 468.15, + -0.301, + -44.278, + -0.0 + ], + [ + 504.746, + 1999.203, + 468.15, + -0.301, + -19.278, + -0.0 + ], + [ + 571.834, + 1950.762, + 468.149, + -0.301, + -19.278, + -0.0 + ], + [ + 687.402, + 1905.001, + 468.149, + -0.301, + -19.278, + -0.0 + ], + [ + 687.402, + 1905.001, + 468.149, + -0.301, + 5.722, + -0.0 + ], + [ + 812.632, + 1917.549, + 468.149, + -0.301, + 5.722, + -0.0 + ], + [ + 937.863, + 1930.098, + 468.149, + -0.301, + 5.722, + -0.0 + ], + [ + 1063.085, + 1939.84, + 468.149, + -0.301, + 5.722, + -0.0 + ], + [ + 1063.085, + 1939.84, + 468.149, + -0.301, + -19.278, + -0.0 + ], + [ + 1063.085, + 1939.84, + 468.149, + -0.301, + -19.278, + -0.0 + ] + ], + "Rationale": [ + "I am at the upstairs landing with a picture wall on my left and the stair railing on my right, and the hallway floor runs ahead toward closed doors in the distance. Nothing blocks the boards in front of me, so I will move forward to start closing distance down the hallway toward the far door.", + "From this position the hallway wall with the console table fills my left, and the passage continues to my right past the stair opening where another closed door stands. My current heading points too far into the left wall, so I will turn right a small amount to bring the continuing hallway and its far door into the center of my view.", + "Now the corridor runs straight ahead with the near closed door on the left wall and the smaller target door standing at the end of the passage near the center of my view. The floor between me and it is clear, so I will move forward to shorten that gap.", + "The door at the end of the hallway is noticeably larger than before and still sits ahead of me between the left wall and the railing on my right. My heading is roughly down the corridor and the way is clear, so I will move forward again to keep closing distance.", + "The closed door on my left wall now takes up the whole left half of my view, while the target door at the end of the hallway sits slightly right of my heading. I will turn right a little so my heading points along the remaining stretch toward that far door and keeps me clear of the near door's frame beside me.", + "The target door is now clearly framed ahead of me on the end wall, with the railing bounding my right and open floor between me and it. I will move forward to advance along that open stretch toward the door.", + "The panelled door and its brass knob are much larger now, so I have clearly gained ground on it, though I am still a few steps short of standing at it. I will move forward again to keep reducing that remaining distance.", + "The door now fills the left portion of my view at close range, with its lever handle and the light switch beside it plainly visible. Only a short gap of floor remains, so I will move forward once more to bring myself right up beside the door.", + "I am now right up against the end wall, with only a light switch and the edge of a door frame just visible at the far left of my view. The hallway door has slipped out of my forward field of view to my left, so I will turn left to bring it back in front of me.", + "The hallway's end door fills my view at arm's length, its handle and latch clearly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000425_y-002184_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000425_y-002184_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d0fc540f954078db434b3e5977640e65c98a3655 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000425_y-002184_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the living area to the dark grid-window door at the far left of the kitchen and open it.", + "Type": 4, + "Start_Pose": [ + 425.013, + -2184.118, + 168.15, + 0.0, + 134.742, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 425.013, + -2184.118, + 168.15, + 0.0, + 134.742, + -0.0 + ], + [ + 336.419, + -2094.722, + 168.15, + 0.0, + 134.742, + -0.0 + ], + [ + 336.419, + -2094.722, + 168.15, + 0.0, + 109.742, + -0.0 + ], + [ + 293.906, + -1976.261, + 168.15, + 0.0, + 109.742, + -0.0 + ], + [ + 251.392, + -1857.8, + 168.15, + 0.0, + 109.742, + -0.0 + ], + [ + 251.392, + -1857.8, + 168.15, + 0.0, + 84.742, + -0.0 + ], + [ + 262.926, + -1732.47, + 168.15, + 0.0, + 84.742, + -0.0 + ], + [ + 259.428, + -1645.767, + 168.15, + 0.0, + 84.742, + -0.0 + ], + [ + 259.428, + -1645.767, + 168.15, + 0.0, + 84.742, + -0.0 + ], + [ + 259.428, + -1645.767, + 168.15, + 0.0, + 84.742, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the near side of the living area I can see the dark grid-window door standing in the wall at the far left, past the sofa and dining table. Nothing blocks the open floor straight ahead, so I will move forward to close the large distance across the room before worrying about alignment.", + "After advancing into the room the target door sits well off to my left while my heading still points at the kitchen counters. I will turn left to bring the grid-window door toward the center of my view so I can travel straight toward it.", + "The dark door with its nine-pane window is now much closer to the middle of my view, with clear floor running toward it. I will move forward along this heading to shorten the remaining distance.", + "The door is clearly framed ahead and slightly to my left, still too far away for me to reach its handle. I will keep moving forward since the path between the tall cabinet and the dining table remains open.", + "I am now close to the wall, but the door has drifted to the left side of my view while I am facing more toward the dining window. A left turn should square my heading onto the door so I can step straight up to its handle.", + "The dark grid-window door is now centered in front of me with its white casing fully visible. I will move forward to close the last of the gap and put myself within reach of the knob.", + "The door fills most of my view and the round knob is visible on its left stile, but I am still slightly short of a comfortable interaction distance. One more short step forward should place me directly at the door for the handle.", + "I am right up against the dark grid-window door, with its glass panes and frame filling my view at arm's length. This is the door named in the task, so I will attempt to open it from here.", + "The grid-window door now stands open, showing the porch and yard straight ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000448_y001977_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000448_y001977_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..51f96dec57b7c7a93677b5a658e15fad34206008 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000448_y001977_z000168_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the round table first, then go to the floor lamp.", + "Type": 3, + "Start_Pose": [ + 447.759, + 1977.029, + 168.15, + -0.199, + -25.056, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 447.759, + 1977.029, + 168.15, + -0.199, + -25.056, + -0.0 + ], + [ + 447.759, + 1977.029, + 168.15, + -0.199, + -50.056, + -0.0 + ], + [ + 528.565, + 1880.537, + 168.15, + -0.199, + -50.056, + -0.0 + ], + [ + 528.565, + 1880.537, + 168.15, + -0.199, + -75.056, + -0.0 + ], + [ + 561.021, + 1758.936, + 168.986, + -0.199, + -75.056, + -0.0 + ], + [ + 561.021, + 1758.936, + 168.986, + -0.199, + -75.056, + -0.0 + ], + [ + 537.193, + 1848.21, + 168.357, + -0.199, + -75.056, + -0.0 + ], + [ + 537.193, + 1848.21, + 168.357, + -0.199, + -50.056, + -0.0 + ], + [ + 537.193, + 1848.21, + 168.357, + -0.199, + -25.056, + 0.0 + ], + [ + 537.193, + 1848.21, + 168.357, + -0.199, + -0.056, + 0.0 + ], + [ + 663.051, + 1848.087, + 168.357, + -0.199, + -0.056, + 0.0 + ], + [ + 788.909, + 1847.964, + 168.357, + -0.199, + -0.056, + 0.0 + ], + [ + 914.768, + 1847.841, + 168.357, + -0.199, + -0.056, + 0.0 + ], + [ + 914.768, + 1847.841, + 168.357, + -0.199, + -25.056, + 0.0 + ], + [ + 1027.105, + 1796.364, + 168.15, + -0.199, + -25.056, + 0.0 + ], + [ + 1027.105, + 1796.364, + 168.15, + -0.199, + -25.056, + 0.0 + ] + ], + "Rationale": [ + "The small round wooden table sits at the far left edge of my view, on the patterned rug beyond the sofa. My body is aimed down the open floor toward the kitchen instead, so I will turn left to bring that table into the middle of my view before walking.", + "The round table now sits ahead of me on the rug, left of center, with clear floor between us. Nothing blocks the path, so I will walk forward to close the distance toward it.", + "I am much closer now, but the round table has drifted to the lower left of my view while I face the window and sofa. A left turn should put it squarely in front of me so my next steps carry me straight to it.", + "The round table with the magazine on it now sits near the center of my view, just a short stretch of rug away. I will step forward to stand right beside it.", + "I am pressed right up beside the little round table, so close that only the corner wall, the curtain, the sofa arm and the rug edge fill my view. I have reached the round table. I mark arriving here, then set off for the floor lamp standing by the bookcase.", + "Standing this close to the corner, the wall and curtain fill almost everything and I cannot see the room I need to cross to reach the floor lamp. Backing up should open the view and give me space to swing my heading around without squeezing past the table.", + "With room around me again, the sofa and window sit ahead while the lit floor lamp lies off to my right, past the bookcase side of the room. I will turn right to begin bringing that lamp into my view.", + "The glow of the floor lamp has appeared at the right edge of my view beside the bookcase, still too far off center to walk toward. Another turn to the right should bring the lamp and the open floor leading to it in front of me.", + "The lit floor lamp glows beside the bookcase ahead, but the long sofa blocks any straight walk toward it. I will turn right once more to face the open stretch of floor past the sofa's end, which should give me a clear lane in that direction.", + "Now the floor runs unobstructed ahead between the sofa on my left and the staircase on my right, with the lamp shining beside the bookcase off to the left. I will walk forward along this clear lane to close distance toward the lamp.", + "The bookcase and the lamp beside it have grown larger on my left, so the previous step gained real ground. The floor ahead is still clear, so I will keep walking forward to bring the lamp abreast of me.", + "The lamp now stands close on my left with its shade clearly lit, though I am still slightly short of it along this lane. One more step forward should carry me level with the lamp before I turn toward it.", + "The lamp has slid to the far left edge of my view, so walking straight ahead would carry me past it toward the kitchen. I will turn left to put the lamp back in front of me and face it directly.", + "The turn worked, and the lit floor lamp now stands ahead of me beside the bookcase with clear floor between us. I will step forward to close the last of that gap and stand at the lamp.", + "The floor lamp's shade and stem fill the space immediately in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000454_y000978_z000129_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000454_y000978_z000129_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..237dc269da25a3ef7ce9c312c0353bb50522641e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000454_y000978_z000129_t1_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Find and go to the red car.", + "Type": 1, + "Start_Pose": [ + 453.715, + 977.683, + 128.79, + -0.05, + 66.133, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 453.715, + 977.683, + 128.79, + -0.05, + 66.133, + 0.0 + ], + [ + 453.715, + 977.683, + 128.79, + -0.05, + 91.133, + 0.0 + ], + [ + 453.715, + 977.683, + 128.79, + -0.05, + 116.133, + -0.0 + ], + [ + 453.715, + 977.683, + 128.79, + -0.05, + 141.133, + -0.0 + ], + [ + 453.715, + 977.683, + 128.79, + -0.05, + 166.133, + 0.0 + ], + [ + 350.618, + 1017.237, + 131.402, + -0.05, + 166.133, + 0.0 + ], + [ + 228.989, + 1048.739, + 133.483, + -0.05, + 166.133, + 0.0 + ], + [ + 228.989, + 1048.739, + 133.483, + -0.05, + 166.133, + 0.0 + ] + ], + "Rationale": [ + "From here I only see the white siding, front porch and lawn of the house, with no red car anywhere in view. I will turn right to begin a consistent scan of the surrounding yard for the target.", + "The scan has brought a garage door and a concrete driveway into view on the right, which is a strong cue that a parked car may be waiting along that paved area. I will keep turning right in the same direction to sweep along the driveway.", + "A dark red car is now cut off at the right edge of my view, parked on the driveway beside the garage. I will continue turning right to bring that vehicle fully into the center of my view before advancing.", + "The red car is clearly visible now, but its body still extends off to the right while the garage wall takes up my left side. One more turn to the right should center the vehicle so I can walk straight toward it.", + "The red car is now centered in front of me on the open driveway, with clear paved ground between us. I will step forward to close that distance since nothing blocks the straight path.", + "The car is noticeably larger and closer now, though there is still a short stretch of driveway before I am beside it. I will advance again to finish closing on the vehicle.", + "The red car's door and window fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000456_y000878_z000122_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000456_y000878_z000122_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50dbc58a0d951a1aee60dcad2bbec802680ad88b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000456_y000878_z000122_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the American flag.", + "Type": 0, + "Start_Pose": [ + 455.526, + 877.527, + 122.17, + -0.05, + 69.013, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 455.526, + 877.527, + 122.17, + -0.05, + 69.013, + 0.0 + ], + [ + 455.526, + 877.527, + 122.17, + -0.05, + 44.013, + -0.0 + ], + [ + 546.042, + 964.976, + 127.947, + -0.05, + 44.013, + -0.0 + ], + [ + 636.557, + 1052.426, + 133.725, + -0.05, + 44.013, + -0.0 + ], + [ + 727.073, + 1139.876, + 139.502, + -0.05, + 44.013, + -0.0 + ], + [ + 817.588, + 1227.325, + 145.279, + -0.05, + 44.013, + -0.0 + ], + [ + 901.961, + 1246.542, + 146.549, + -0.05, + 44.013, + -0.0 + ], + [ + 979.454, + 1247.459, + 146.656, + -0.05, + 44.013, + -0.0 + ], + [ + 979.454, + 1247.459, + 146.656, + -0.05, + 44.013, + -0.0 + ], + [ + 979.454, + 1247.459, + 146.656, + -0.05, + 44.013, + -0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the American flag mounted on a post at the front porch, sitting off to the left of my current heading while most of my view is filled with the house siding and garage. I will turn left to place the flag and the porch front closer to the center of my view so I have a clean straight path toward it.", + "The flag now hangs ahead of me on the porch post, roughly along my heading, with open grass between us. I will move forward to start closing that distance across the lawn.", + "The porch railing and flower boxes have grown larger in my view and the flag is still clearly ahead and slightly left, so my heading remains usable. I will keep moving forward since a large stretch of grass still separates me from the flag.", + "The flag is now high in my upper left view and the porch deck edge is close in front of me, which tells me I am gaining ground steadily. I will advance again to bring myself right up beside the post that carries the flag.", + "I am nearly at the porch and the flag hangs just above and to my left, close enough that only a short gap remains. I will step forward once more along the porch edge to finish closing that gap.", + "The flag is now at the very top edge of my view because I am almost underneath its mounting post, and the porch deck continues in front of me. I will move forward a little more to settle into a stable position at the flag's post.", + "The flag has passed above my upward field of view and I can see the porch ceiling, post, and front door at very short range. I will take one more small step forward to settle directly at the post carrying the flag.", + "Standing this close to the porch post, the flag is mounted above my current line of sight and my view shows only ceiling, siding, and the door. I will tilt my view upward to bring the American flag back into sight and confirm I am at it.", + "The American flag and its mounted pole fill the upper view directly overhead, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000464_y001985_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000464_y001985_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d96fd35555d2110050eb4c7c0793eb79846bbb0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000464_y001985_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the right curtains.", + "Type": 2, + "Start_Pose": [ + 464.398, + 1984.956, + 168.15, + -0.05, + -29.127, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 464.398, + 1984.956, + 168.15, + -0.05, + -29.127, + 0.0 + ], + [ + 574.341, + 1923.695, + 168.15, + -0.05, + -29.127, + -0.0 + ], + [ + 684.284, + 1862.433, + 168.15, + -0.05, + -29.127, + -0.0 + ], + [ + 791.454, + 1831.144, + 168.15, + -0.05, + -29.127, + -0.0 + ], + [ + 899.582, + 1797.759, + 168.15, + -0.05, + -29.127, + -0.0 + ], + [ + 899.582, + 1797.759, + 168.15, + -0.05, + -54.127, + -0.0 + ], + [ + 899.582, + 1797.759, + 168.15, + -0.05, + -79.127, + 0.0 + ], + [ + 923.323, + 1674.16, + 168.15, + -0.05, + -79.127, + 0.0 + ], + [ + 923.323, + 1674.16, + 168.15, + -0.05, + -79.127, + 0.0 + ] + ], + "Rationale": [ + "The window ahead on the left side of this room carries a curtain panel at each edge, and the one I want is the right-hand panel, the one hanging against the wall beside the tall bookcase. It is still far off across the open floor, so I will walk forward to close that distance.", + "The bookcase and the curtain beside it have grown larger and shifted leftward as I advance, confirming my heading is good. I will keep walking straight to cut down the remaining stretch of floor.", + "The sofa now sits below my left and the bookcase fills much of the view, so I am well inside the living area. The curtain I am after is off at the left edge, still several paces away, so I will continue forward.", + "The bookcase and floor lamp are close ahead and the curtain hangs just past them at the left margin. Another step forward should bring me level with that corner of the room before I swing toward the drapes.", + "Walking in has pushed the bookcase and lamp across almost my whole view, and the curtain I want has slipped out of sight to my left. I will turn left to bring that drape back in front of me.", + "The turn has brought the hanging drape into view, but it sits far over at the left edge with the shelving still dominating the right side. I will turn left again to put the curtain squarely ahead of me.", + "The curtain now hangs ahead of me beside the window, with clear floor between us and no furniture in the way. I will step forward to close the last of the gap and stand right at it.", + "The curtain fills the view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000493_y001562_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000493_y001562_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..42e316da6406f43b53250bfe7ea1755cdc226e7a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000493_y001562_z000468_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First go to the door, then go to the washing powder on top of the washing machine.", + "Type": 3, + "Start_Pose": [ + 492.697, + 1562.186, + 468.15, + -0.05, + 58.281, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 492.697, + 1562.186, + 468.15, + -0.05, + 58.281, + -0.0 + ], + [ + 558.868, + 1669.246, + 468.15, + -0.05, + 58.281, + -0.0 + ], + [ + 558.868, + 1669.246, + 468.15, + -0.05, + 33.281, + -0.0 + ], + [ + 663.117, + 1711.15, + 468.15, + -0.05, + 33.281, + -0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 33.281, + -0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 33.281, + -0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 58.281, + -0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 83.281, + 0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 108.281, + -0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 133.281, + 0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + 158.281, + 0.0 + ], + [ + 759.652, + 1725.905, + 468.15, + -0.05, + -176.719, + 0.0 + ], + [ + 653.038, + 1703.993, + 468.15, + -0.05, + -176.719, + 0.0 + ], + [ + 653.038, + 1703.993, + 468.15, + -0.05, + 158.281, + 0.0 + ], + [ + 622.823, + 1711.178, + 468.15, + -0.05, + 158.281, + 0.0 + ], + [ + 622.823, + 1711.178, + 468.15, + -0.05, + 158.281, + 0.0 + ] + ], + "Rationale": [ + "The white panelled door sits well ahead on the left wall of this laundry area, past the wire shelving rack. Since the door is my first destination, I will walk forward along the open tiled floor to cut down that distance before adjusting my heading.", + "After closing in, the door has slipped to the left edge of my view while the shelving rack and the counter now dominate straight ahead. I will turn left so the doorway comes into the centre of my path and I can walk at it directly.", + "The turn has brought the door into clear view ahead with open tile leading up to it, and nothing blocks that stretch. I will walk forward to close on the doorway.", + "The door panel now fills much of my view but I am still a short walk from standing at it, with only the wall corner beside me. Another step forward should bring me right up to the door.", + "The panelled door is directly in front of me, its brass lever and lock plate an arm's length away. I have reached the door. I mark reaching it, and now I head for the washing powder box sitting on top of the washing machine behind me.", + "Standing at the door, my whole view is its panel and handle, so the washing machine with the powder box on it lies well behind me to my right. I will turn right to begin swinging my heading away from this doorway and back into the room.", + "The door has shifted toward the left of my view and only blank wall lies ahead, so I am not yet facing back into the room where the washing machine stands. I will keep rotating right to carry my heading further around.", + "Only the door frame edge and the lever remain at the far left while flat wall covers everything else, so my heading is still short of the open room. I will turn right again to keep bringing the laundry side with the washing machine around into view.", + "My view is still filled with blank wall, so nothing of the laundry area has come back into sight yet. I will keep turning right to swing my heading further around toward the room with the washing machine.", + "The metal shelving rack and the framed picture have come into the right edge of my view, with a hint of tiled wall beyond. Turning right again should bring the washing machine and the box on it into the center of my view.", + "The washing machine top is now visible past the shelving, with the small box on it and the bright window beyond. One more right turn should place that machine squarely ahead so I can walk straight to it.", + "The washing machine with the small box on its lid sits ahead on my left, and the tiled floor between us is clear. I will walk forward to close the remaining distance to it.", + "After advancing, the washing machine and its box have slipped to the left edge of my view while the bathtub fills the right. I will turn left to bring the machine top and the powder box back to the center of my view.", + "The washing powder box now stands centered on the washing machine lid just ahead of me. A short step forward should bring me right up to it.", + "The washing powder box is directly before me on the washing machine lid, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000497_y-001665_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000497_y-001665_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3a4cc3baeb5514d88ba1bb59c05efde9afc97c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000497_y-001665_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white paneled door immediately to the left of the louvered wardrobe.", + "Type": 4, + "Start_Pose": [ + 496.643, + -1664.852, + 168.15, + 0.0, + -30.577, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 496.643, + -1664.852, + 168.15, + 0.0, + -30.577, + 0.0 + ], + [ + 605.001, + -1728.566, + 203.796, + 0.0, + -30.577, + 0.0 + ], + [ + 605.001, + -1728.566, + 203.796, + 0.0, + -55.577, + 0.0 + ], + [ + 676.149, + -1832.385, + 168.15, + 0.0, + -55.577, + 0.0 + ], + [ + 676.149, + -1832.385, + 168.15, + 0.0, + -80.577, + 0.0 + ], + [ + 696.471, + -1945.45, + 168.15, + 0.0, + -80.577, + 0.0 + ], + [ + 696.471, + -1945.45, + 168.15, + 0.0, + -80.577, + 0.0 + ], + [ + 696.471, + -1945.45, + 168.15, + 0.0, + -80.577, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From across the bedroom I can see the louvered wardrobe with the white paneled door just to its left on the far wall. That door is still far away, so I will move forward to close the distance before refining my heading.", + "After advancing, the paneled door has drifted to the left edge of my view while the dressers and wardrobe fill the center and right. I will turn left to bring the target door back toward the middle of my heading.", + "The white paneled door now sits clearly in view with the louvered wardrobe beside it on the right, so my heading is roughly usable. I will move forward to shorten the remaining gap to the door.", + "Standing close now, the door fills the left portion of my view and its handle is off to the side rather than in front of me. I will turn left so the door face and latch are centered before I try to interact.", + "The paneled door and its brass lever are centered ahead of me, but I am still a short step back from the panel. I will move forward to bring the handle within reach for the opening attempt.", + "I am right at the door face with the brass lever and deadbolt plate filling my view, so the latch is well within reach. I will attempt to open this white paneled door now, and it should swing free.", + "The paneled door stands swung inward and a hallway with a side table is visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000515_y001653_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000515_y001653_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..265b86df7be77dd444f09ab70337ddefab29b24e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000515_y001653_z000468_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the tiled bathroom to the white paneled door on the right wall and open it.", + "Type": 4, + "Start_Pose": [ + 515.053, + 1652.782, + 468.15, + 0.0, + 2.491, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 515.053, + 1652.782, + 468.15, + 0.0, + 2.491, + -0.0 + ], + [ + 640.793, + 1658.252, + 468.15, + 0.0, + 2.491, + -0.0 + ], + [ + 766.533, + 1663.722, + 468.15, + 0.0, + 2.491, + -0.0 + ], + [ + 766.533, + 1663.722, + 468.15, + 0.0, + 27.491, + -0.0 + ], + [ + 766.533, + 1663.722, + 468.15, + 0.0, + 52.491, + -0.0 + ], + [ + 842.114, + 1752.957, + 468.15, + 0.0, + 52.491, + -0.0 + ], + [ + 842.114, + 1752.957, + 468.15, + 0.0, + 77.491, + -0.0 + ], + [ + 863.52, + 1753.003, + 468.15, + 0.0, + 77.491, + -0.0 + ], + [ + 863.52, + 1753.003, + 468.15, + 0.0, + 77.491, + -0.0 + ], + [ + 863.52, + 1753.003, + 468.15, + 0.0, + 77.491, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the entrance of this tiled bathroom I can see the white paneled door set into the wall on my right, well ahead of me past the vanity. The open tiled floor between us is clear, so I will move forward to close that distance before worrying about heading.", + "The paneled door now fills much more of the right side of my view and its brass lever handle is clearly visible, so I am on the correct line of travel. I will advance again to draw level with the door before turning toward it.", + "Facing straight ahead I now only see the blank wall and the towel ring beside the vanity, because the target door has slipped out of view to my right. I will turn right to bring the paneled door back into the center of my view.", + "The turn has brought the door's frame and one panel into the right portion of my view, but the door is still off center and I cannot see its handle. I will turn right once more to square my heading with the door face.", + "The white paneled door is now centered in front of me with its brass lever plainly visible, so my heading is good. I will move forward to close the remaining gap and get within reach of the handle.", + "I am very close now, with the door jamb filling the left of my view and only the panel edge showing, which means I drifted toward the hinge side. A small turn to the right should bring the door face and its latch side back in front of me.", + "The door surface now spans my view at close range, so my heading onto its face is acceptable. I will edge forward slightly to place the door within arm's reach for the handle.", + "The paneled door face is directly in front of me at arm's length, with its recessed panel filling my view and no gap left to cross. I will attempt to operate the latch now, which should swing the door open.", + "The paneled door now stands open, revealing the stair landing and railing beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000522_y001987_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000522_y001987_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..942d6a8af5b05da3c82c2c8011ae025a71f15d5d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000522_y001987_z000168_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "First go to the bookcase, then go to the small round table.", + "Type": 3, + "Start_Pose": [ + 522.077, + 1986.627, + 168.15, + -0.05, + -49.127, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 522.077, + 1986.627, + 168.15, + -0.05, + -49.127, + -0.0 + ], + [ + 522.077, + 1986.627, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 636.941, + 1935.181, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 751.805, + 1883.735, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 866.669, + 1832.288, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -24.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -49.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -74.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -99.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -124.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -149.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + -174.127, + -0.0 + ], + [ + 981.534, + 1780.842, + 168.15, + -0.05, + 160.873, + -0.0 + ], + [ + 862.623, + 1822.082, + 168.15, + -0.05, + 160.873, + -0.0 + ], + [ + 862.623, + 1822.082, + 168.15, + -0.05, + -174.127, + -0.0 + ], + [ + 750.922, + 1831.116, + 168.15, + -0.05, + -174.127, + -0.0 + ], + [ + 750.922, + 1831.116, + 168.15, + -0.05, + -149.127, + -0.0 + ], + [ + 750.922, + 1831.116, + 168.15, + -0.05, + -124.127, + -0.0 + ], + [ + 678.744, + 1762.735, + 168.914, + -0.05, + -124.127, + -0.0 + ], + [ + 678.744, + 1762.735, + 168.914, + -0.05, + -124.127, + -0.0 + ] + ], + "Rationale": [ + "The tall shelves packed with books stand across the room ahead and to my right, while the sofa sits squarely in the straight line between us. A short turn to the right should point me past the end of the sofa and open a clear lane of floor toward those shelves.", + "With my heading swung right, the book-filled shelves and the lit floor lamp beside them are now framed ahead, and the sofa has fallen away to my left. The floorboards between us are clear, so I will walk forward to close on the bookcase.", + "The bookcase has grown noticeably larger and its shelves of red and cream spines are clearly readable, but I am still several strides short of standing at it. The lane of bare floor ahead remains unobstructed, so I will keep walking toward it.", + "The bookcase now dominates the left of my view with the lamp standing just beside it, so I am closing well. There is still open floor between me and the cabinet base, so another step forward should bring me right up to the shelves.", + "The shelves and their cabinet doors fill my view from close range, with the lamp post at my right. A final short step should put me directly at the bookcase rather than a pace short of it.", + "The loaded shelves are right in front of me, close enough to read individual spines, with the lamp glowing at my shoulder. I am standing at the bookcase. I mark reaching it, and now I am heading for the small round table back across the room by the sofa.", + "There is nothing ahead but shelf boards and the lamp against the wall, so this corner has no further use to me. The little round table sits back across the room beside the sofa and rug, well behind my current heading, so I will turn left to begin bringing that side of the room around in front of me.", + "Rotating has only brought more shelf edge and the lamp into frame, so I am still aimed at this wall rather than the open room. The floor leading back toward the sofa and the round table lies much further around to my left, so I will turn left again.", + "The shelves of books now fill only the right edge of my view, so I have already put the bookcase behind me and need the small round table instead. Nothing but curtain and blank wall lies ahead, so I will keep rotating left to bring more of the room into view.", + "The curtained window and an armchair edge have swung into view, but there is still no low round table anywhere in front of me. I will continue turning left to sweep further around the room's open side.", + "A sofa back and a chandelier at the left edge tell me the main seating area continues past my current heading. Since the small round table is not yet in sight, another left turn should reveal that part of the room.", + "Now the television and cabinet wall are ahead, with the sofa blocking the floor directly in front of me. The round table still has not appeared, so I keep turning left toward the more open floor beyond the sofa.", + "Clear floorboards stretch toward the white door on my left while the sofa still crowds my right side. One more left turn should line me up with that open lane so I can walk across the room unobstructed.", + "I am now facing a clear stretch of floor between the staircase and the media cabinet, with nothing in the way. Walking forward should carry me into the seating area where a low table is likely to stand.", + "Straight ahead is only the closed door and a bare wall, while the rug and furnished part of the room open off to my right. Turning right should point me into that furnished area where the small round table should be.", + "The small round table now stands plainly on the rug ahead of me, a bit to the right, with clear floor in between. I will walk forward to close the remaining distance to it.", + "Only the rim of a small round wooden table shows at the lower right edge of my view, while the door and media cabinet fill the space ahead. I will turn right to swing that table into the center of my view before closing on it.", + "The little round table with papers on it now sits low and near in my view, on the carpet just past the cabinet. I will turn right again so my heading opens onto the free floor beside it rather than straight into its top.", + "The round table now lies to my lower left with clear floor and rug stretching straight ahead of me. A step forward should carry me up alongside it and close the last of the gap.", + "The small round table is right at my feet, its edge just below my view. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000529_y001678_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000529_y001678_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..98f8d34b3cd581e69e91c1778da1daa4398b70b6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000529_y001678_z000468_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the bathroom sink with the mirror above it.", + "Type": 0, + "Start_Pose": [ + 528.842, + 1677.596, + 468.149, + -0.301, + -15.701, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 528.842, + 1677.596, + 468.149, + -0.301, + -15.701, + 0.0 + ], + [ + 528.842, + 1677.596, + 468.149, + -0.301, + 9.299, + 0.0 + ], + [ + 652.804, + 1689.085, + 468.149, + -0.301, + 9.299, + 0.0 + ], + [ + 652.804, + 1689.085, + 468.149, + -0.301, + -15.701, + 0.0 + ], + [ + 773.965, + 1655.026, + 468.149, + -0.301, + -15.701, + 0.0 + ], + [ + 773.965, + 1655.026, + 468.149, + -0.301, + -40.701, + 0.0 + ], + [ + 863.008, + 1620.041, + 468.149, + -0.301, + -40.701, + 0.0 + ], + [ + 863.008, + 1620.041, + 468.149, + -0.301, + -65.701, + 0.0 + ], + [ + 863.008, + 1620.041, + 468.149, + -0.301, + -65.701, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the target across the room, a vanity sink with a framed mirror and light above it on the left-hand wall. A console table with a plant and the toilet crowd the left side of the floor, so I will turn right to line my heading up with the open tiled lane down the middle of the room. That should give me a clear run before I swing back toward the sink.", + "The tiled floor ahead of me is clear all the way to the far wall and closet doors, with the mirrored sink vanity now off to my left. I will move forward along this open lane to close the gap toward that side of the room. Advancing here should put me level with the vanity before I reorient onto it.", + "After advancing, the wall and closet doors dominate my view and only the corner of the vanity counter with its towel ring shows at the left edge. I will turn left to bring the sink and the mirror above it back into the center of my view. That should set my heading for the final approach.", + "The vanity with its mirror and sconce is now clearly in view ahead and slightly left, with open tile between us. I will move forward to cut the remaining distance to that sink. The path in front of me looks unobstructed.", + "I am close now, and the sink basin with its mirror has drifted to the left half of my view while blank wall takes up the right. I will turn left to square up on the vanity and keep the mirror centered above the basin. That should keep the target in front of me for the last step in.", + "The sink with the mirror hanging directly above it is centered in front of me, with the towel ring on the wall to its right. I will move forward a short way to stand right at the vanity. That should bring me within arm's reach of the basin.", + "Standing this close, the counter and mirror have slipped to the left edge while the towel ring is centered in front of me. I will turn left to face the basin and the mirror above it squarely. That should place the target properly in front of me.", + "The sink basin with its faucet is directly in front of me with the framed mirror mounted on the wall above it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000533_y-001889_z000201_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000533_y-001889_z000201_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..57381cccfa43c8865f2a803aee5831b2687afea4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000533_y-001889_z000201_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Turn away from the bed, locate the white bedroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 533.017, + -1888.532, + 201.343, + 0.0, + 160.354, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 160.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 135.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 110.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 85.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 60.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 35.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + 10.354, + -0.0 + ], + [ + 533.017, + -1888.532, + 201.343, + 0.0, + -14.646, + 0.0 + ], + [ + 654.786, + -1920.355, + 168.299, + 0.0, + -14.646, + 0.0 + ], + [ + 654.786, + -1920.355, + 168.299, + 0.0, + -39.646, + 0.0 + ], + [ + 654.786, + -1920.355, + 168.299, + 0.0, + -64.646, + 0.0 + ], + [ + 712.749, + -1948.423, + 168.15, + 0.0, + -64.646, + 0.0 + ], + [ + 712.749, + -1948.423, + 168.15, + 0.0, + -64.646, + 0.0 + ], + [ + 712.749, + -1948.423, + 168.15, + 0.0, + -64.646, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the bed's headboard and patterned wall, so no exit is visible from this heading. I will turn left to begin sweeping away from the bed in search of the white bedroom door.", + "The sweep has brought a nightstand and the room corner into view, but there is still only wall and furniture, no doorway. I will keep turning left to continue scanning the room boundary for the white door.", + "Now I see a curtained window and a framed picture on the wall, which is an exterior wall rather than an exit. Turning left again should carry my view further around the room toward a possible doorway.", + "The window is now centered ahead, confirming this wall leads outside instead of into the house. I will continue rotating left to inspect the wall beyond it.", + "A tall wardrobe and chest of drawers now occupy the view next to the window, still not the door I need. I will turn left again to reach the wall past that furniture.", + "At the left margin of my view a pale louvered panel and the edge of a lighter wall are appearing, which suggests the room's door wall lies just beyond. Another left turn should bring that section fully into view.", + "I can now see a white paneled door at the far left of my view, alongside the louvered closet doors. Turning left once more should bring that paneled door toward the center of my heading so I can approach it.", + "The white paneled door is now in view to the left of center with open carpet between me and that wall. I will move forward to close the distance toward the door corner before making a final alignment.", + "The white paneled bedroom door is only clipped at the left edge of my view, while the louvered closet fills the center ahead of me. I will turn left to bring that door and its handle into the middle of my view so I can line up an approach.", + "The white door with its brass lever is now in view, but my heading is still angled so that its face runs obliquely across my view. One more left turn should square me up with the door panel so a straight forward move should carry me to the handle.", + "The white door and its lever handle fill the right side of my view and my heading now faces the door panel rather than the adjacent wall. I am still a step short of touching distance, so I will move forward to close in on the handle.", + "The white door panels now fill my entire view and the brass lever appears at the lower left, so I am within arm's reach of the handle. I will attempt to open the door, which should swing it clear of the doorway.", + "The white door now stands swung open with the lit hallway and its side table visible beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000540_y001998_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000540_y001998_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7a590682fee1893a9ad31a5ef3657d475bc9495 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000540_y001998_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the bookshelf.", + "Type": 0, + "Start_Pose": [ + 540.437, + 1997.887, + 168.15, + -0.05, + -58.887, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 540.437, + 1997.887, + 168.15, + -0.05, + -58.887, + -0.0 + ], + [ + 540.437, + 1997.887, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 644.917, + 1927.713, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 749.398, + 1857.54, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 851.284, + 1825.471, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 955.764, + 1755.298, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 990.083, + 1692.604, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 990.083, + 1692.604, + 168.15, + -0.05, + -33.887, + -0.0 + ] + ], + "Rationale": [ + "The book-filled shelving unit stands against the far wall to the right of the window and sofa, off to the right of my current heading. I will turn right to bring that bookshelf toward the center of my view so I can walk straight at it.", + "The bookshelf now sits near the middle of my view with the lit floor lamp beside it, so my heading points at the target. The floor ahead is clear hardwood, so I will step forward to begin closing the distance.", + "The shelves have grown larger and remain slightly right of center, and the sofa stays off to my left rather than in my path. I will keep moving forward to shorten the remaining gap to the bookshelf.", + "The bookshelf and its cabinet base now fill much of the middle of my view, with the lamp just to its right. Still a few paces short of it, so I will advance again toward the shelves.", + "The shelving unit now dominates my view and the individual book spines are becoming distinct, so I am close but not yet within arm's reach. I will step forward once more to finish closing on it.", + "The shelves and their books now occupy nearly my entire view, with the cabinet top just below me. One short step forward should place me directly at the bookshelf.", + "The bookshelf's shelves and book spines fill my view at arm's reach. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000553_y001882_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000553_y001882_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..de11019f7b0e82a47ac5c18b36e9d3634982de12 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000553_y001882_z000168_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head over to the floor lamp that is turned on next to the bookshelf.", + "Type": 0, + "Start_Pose": [ + 552.918, + 1882.038, + 168.15, + 0.0, + 4.854, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 552.918, + 1882.038, + 168.15, + 0.0, + 4.854, + -0.0 + ], + [ + 678.326, + 1892.688, + 168.15, + 0.0, + 4.854, + -0.0 + ], + [ + 678.326, + 1892.688, + 168.15, + 0.0, + -20.146, + 0.0 + ], + [ + 796.484, + 1849.34, + 168.15, + 0.0, + -20.146, + 0.0 + ], + [ + 914.643, + 1805.993, + 168.15, + 0.0, + -20.146, + 0.0 + ], + [ + 1008.75, + 1767.969, + 168.15, + 0.0, + -20.146, + 0.0 + ], + [ + 1008.75, + 1767.969, + 168.15, + 0.0, + -20.146, + 0.0 + ] + ], + "Rationale": [ + "I can already see the lit floor lamp standing just to the right of the bookshelf on the left side of the room. It is still far down the open floor, so I will move forward along the hallway to close some of that distance before adjusting my heading.", + "The lit lamp and the bookshelf sit off to my left while my heading still points down the corridor toward the kitchen and stairs. I will turn left to bring the lamp closer to the center of my view so my next forward steps head straight at it.", + "The bookshelf and the glowing lamp beside it are now roughly ahead of me, with clear floor in between. I will move forward to close the remaining gap toward the lamp.", + "The lamp is noticeably larger now, its shade clearly lit right next to the bookshelf, but I am still a couple of steps away. I will continue forward to keep closing the distance.", + "The illuminated shade now dominates the upper part of my view with the bookshelf edge just to its left, so I am nearly at the lamp. One more short step forward should bring me right up beside it.", + "The lit lamp shade fills my view at arm's length, with the bookshelf edge beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000557_y001626_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000557_y001626_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c15bf98eb8c1d895da7a13976fd5816a080bfe78 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000557_y001626_z000468_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "Face away from the bathtub and open the white bathroom door once it comes into view.", + "Type": 4, + "Start_Pose": [ + 557.287, + 1626.035, + 468.15, + 0.0, + -177.779, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -177.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -152.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -127.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -102.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -77.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -52.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -27.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + -2.779, + 0.0 + ], + [ + 557.287, + 1626.035, + 468.15, + 0.0, + 22.221, + -0.0 + ], + [ + 673.799, + 1673.632, + 468.245, + 0.0, + 22.221, + -0.0 + ], + [ + 790.31, + 1721.23, + 468.245, + 0.0, + 22.221, + -0.0 + ], + [ + 790.31, + 1721.23, + 468.245, + 0.0, + 47.221, + -0.0 + ], + [ + 790.31, + 1721.23, + 468.245, + 0.0, + 72.221, + -0.0 + ], + [ + 835.323, + 1753.037, + 468.15, + 0.0, + 72.221, + -0.0 + ], + [ + 835.323, + 1753.037, + 468.15, + 0.0, + 72.221, + -0.0 + ], + [ + 835.323, + 1753.037, + 468.15, + 0.0, + 72.221, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am standing right at the bathtub, with the shower curtain filling the left of my view and the tiled tub surround straight ahead, so no door is reachable from this heading. The task asks me to face away from the bathtub, so I will turn right to begin sweeping my view off the tub alcove and toward the rest of the bathroom.", + "The tub basin and its faucet and valve are still directly in front of me, and the tiled corner shows I am still boxed into the bathing alcove. I will keep rotating right so the tub falls behind me and open room comes into view.", + "The tub has slid toward the left edge of my view and tile now dominates the right side, so my heading is swinging off the bathtub but not yet clear of it. Another right turn should continue carrying my facing away from the alcove.", + "Now I am looking almost entirely at close tile with just a pale fixture edge appearing at the lower right, so nothing useful is framed here. I will turn right again to bring the open part of the bathroom into view.", + "The tile is retreating to the left and I can now see painted wall, a framed picture, a paper holder, and the toilet tank, which means I am nearly clear of the tub side of the room. Continuing right should reveal more of the far wall where a door is likely to be.", + "My view now opens onto the bright side of the bathroom with the window, plant, towels and the vanity edge, so the tub is behind me. No white door has appeared yet, so I will keep turning right to scan further along the walls.", + "I can see the full length of the room now, the vanity with mirror and sconce on the left and tiled floor running to a bare wall on the right, but still no doorway in frame. One more right turn should bring the wall beyond the vanity into view where an exit door would sit.", + "A white paneled door with a handle has just come into view on the right side of my frame, set into the far wall past the vanity. I will turn right once more to bring that door closer to the center of my view so I can head straight at it.", + "Now that I am facing away from the tub, the white bathroom door is clearly visible ahead on the far wall, past the vanity and the wicker hamper. It is still several steps away, so I will move forward to close that distance before I can reach the handle.", + "The door now fills much of the right side of my view with its brass handle visible, but I am still standing back from it in the open floor area. I will advance again to bring myself within arm's reach of the handle.", + "I am close to the door now, but my heading is skewed so that only the door edge and jamb fill my view while the handle side lies off to the right. I will turn right to bring the door face and its handle into the center of my view.", + "The brass lever handle has come into view at the right edge, so my alignment is improving but the door face is still offset. Another right turn should place the handle and door panel squarely in front of me for the interaction.", + "The door face and its brass lever are now centered in front of me, confirming I am squared up to it. I am still slightly back from the surface, so I will step forward to get within reach for opening it.", + "The white door panel fills my entire view at close range, so I am directly at its surface and within reach of the latch. I will attempt to open it now, which should swing the door clear of the frame.", + "The white door now stands open, revealing the railing and landing beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000577_y-001681_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000577_y-001681_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2349dd104fc073c477d6b283dc8c65ac91eabfbb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000577_y-001681_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Look around the red-wallpapered bedroom for the white paneled door and open it.", + "Type": 4, + "Start_Pose": [ + 577.079, + -1680.96, + 168.15, + 0.0, + 4.495, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 577.079, + -1680.96, + 168.15, + 0.0, + 4.495, + -0.0 + ], + [ + 577.079, + -1680.96, + 168.15, + 0.0, + -20.505, + 0.0 + ], + [ + 577.079, + -1680.96, + 168.15, + 0.0, + -45.505, + 0.0 + ], + [ + 665.287, + -1770.362, + 187.206, + 0.0, + -45.505, + 0.0 + ], + [ + 665.287, + -1770.362, + 187.206, + 0.0, + -70.505, + 0.0 + ], + [ + 707.289, + -1889.006, + 168.173, + 0.0, + -70.505, + 0.0 + ], + [ + 745.327, + -1948.385, + 168.15, + 0.0, + -70.505, + 0.0 + ], + [ + 745.327, + -1948.385, + 168.15, + 0.0, + -70.505, + 0.0 + ], + [ + 745.327, + -1948.385, + 168.15, + 0.0, + -70.505, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I mostly see the window wall, a tall white cabinet and a dresser against the red patterned wallpaper, with no paneled door in reach. A pale vertical edge at the far left hints that the wall continues that way, so I will turn left to sweep that unseen part of the bedroom.", + "Turning has brought a louvered wardrobe and, further left, what looks like a white paneled door partly cut off at the edge of my view. I will keep turning left so that candidate door comes fully into view and I can judge its position before approaching.", + "The white paneled door with a brass handle is now clearly in view on the left of the wall ahead, next to the louvered closet. The floor between us is open carpet, so I will move forward to close the distance toward it.", + "The paneled door is now large in my view but sits toward the left side, with its frame running off the edge, so I am not squared up with it. I will turn left to center the door and its handle before I continue closing in.", + "The white paneled door now sits centered in my view with its frame visible on both sides and the brass lever clearly on its left stile. I will move forward to bring myself close enough to the door for an interaction.", + "The door panels and the brass lever now fill most of my view, so I am close but likely still short of comfortable reach. I will take one more short step forward to stand right at the door before trying the handle.", + "I am pressed right up against the white painted panel, close enough that only its molding and surface fill my view, which means the door is within arm's reach. This is the paneled door the task asked me to find, so I will operate it now and it should swing open.", + "The white paneled door now stands open, revealing the lit hallway with a console table beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000579_y-001700_z000194_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000579_y-001700_z000194_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83dc274a8e2cf259f89cee0b63de65841625e525 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000579_y-001700_z000194_t4_a/infos.json @@ -0,0 +1,205 @@ +{ + "Instruction": "Turn away from the bed and nightstand, find the white door, and open it.", + "Type": 4, + "Start_Pose": [ + 578.543, + -1699.7, + 194.107, + 0.0, + 174.078, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 174.078, + 0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 149.078, + -0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 124.078, + -0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 99.078, + -0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 74.078, + -0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 49.078, + -0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + 24.078, + -0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + -0.922, + 0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + -25.922, + 0.0 + ], + [ + 578.543, + -1699.7, + 194.107, + 0.0, + -50.922, + 0.0 + ], + [ + 657.882, + -1797.403, + 194.838, + 0.0, + -50.922, + 0.0 + ], + [ + 737.22, + -1895.106, + 168.15, + 0.0, + -50.922, + 0.0 + ], + [ + 737.22, + -1895.106, + 168.15, + 0.0, + -75.922, + 0.0 + ], + [ + 737.22, + -1895.106, + 168.15, + 0.0, + -100.922, + 0.0 + ], + [ + 716.332, + -1948.382, + 168.15, + 0.0, + -100.922, + 0.0 + ], + [ + 716.332, + -1948.382, + 168.15, + 0.0, + -100.922, + 0.0 + ], + [ + 716.332, + -1948.382, + 168.15, + 0.0, + -100.922, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the corner where the lamp-topped nightstand and the headboard of the bed sit, which is exactly the direction the task tells me to leave. No white door is visible in this narrow corner, so I will turn left to begin sweeping my view away from the bed area toward the rest of the room.", + "The nightstand and lamp have shifted to the right side of my view, confirming my heading is rotating off the bed corner. Ahead there is still only patterned wallpaper and a framed picture, so I will keep turning left to bring more of the room's walls into view.", + "My view is now filled almost entirely with the pink patterned wall and the lower edge of a hanging picture, with the nightstand barely clipping the right border. Nothing here resembles a white door, so I will continue rotating left to scan the next wall section.", + "A heavy grey curtain has appeared on the left side of my view, which means a window wall is coming into range rather than a door. I will keep turning left to sweep past that window area and expose whatever lies farther around the room.", + "The opening I have reached is a curtained window with daylight and trees outside, not the white door I need. Since this cannot be my target, I will keep turning left to continue the sweep along the wall beyond the window.", + "The window still dominates the right of my view, but a pale cabinet edge is now entering on the left, so more of the room's furnished wall is opening up in that direction. I will turn left again to bring that wall fully into view and look for a door there.", + "I can now see a tall white wardrobe with drawers and a small chest beside it, plus carpet floor, but no doorway on this stretch of wall. Continuing to rotate left should reveal the wall section beyond the wardrobe where a door could stand.", + "The wardrobe, the small chest and a louvered closet front are now spread across my view, and the louvered panels are clearly cabinet doors rather than the white room door I am looking for. I will keep turning left to uncover the far wall past the closet, where an actual doorway may appear.", + "The white paneled door with its brass handle is just at the left edge of my view, partly cut off by the frame while the dresser and armoire fill the center. I will turn left again so the door sits squarely ahead of me before I commit to moving toward it.", + "The white door is now clearly in front of me, framed between the wall art on the left and the louvered wardrobe on the right, with open carpet between us. I will move forward to close that distance since nothing blocks the path.", + "The door now fills the left half of my view and its lever handle is clearly visible, but I am still too far back to reach it. I will step forward again to bring myself within arm's reach of the door face.", + "I am close to the wall now, and my view is split between the edge of the white door on the left and the louvered closet doors on the right. I will turn left to swing my heading off the closet and onto the door surface with its handle.", + "The white door now fills most of my view, but the latch and lever sit off at the left margin rather than in front of me. One more left turn should bring the handle toward the center of my reach for the interaction.", + "The door is squarely ahead with its keyhole and brass lever now near the middle of my view. I will take a short step forward so the handle is within interaction distance.", + "I am right up against the white door with the keyhole and brass lever filling my view, so I am clearly within reach of the latch. I will attempt to open the door now, which should release the latch and swing it clear.", + "The white door stands open and the hallway beyond it, with its wall sconce and table, is visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000584_y001933_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000584_y001933_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23f44ed192286569626ff1881838d4065e90fb7a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000584_y001933_z000468_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door just to the right of the small console table.", + "Type": 4, + "Start_Pose": [ + 583.52, + 1932.548, + 468.15, + 0.0, + -59.499, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 583.52, + 1932.548, + 468.15, + 0.0, + -59.499, + 0.0 + ], + [ + 583.52, + 1932.548, + 468.15, + 0.0, + -34.499, + 0.0 + ], + [ + 684.467, + 1896.786, + 468.15, + 0.0, + -34.499, + 0.0 + ], + [ + 785.892, + 1854.43, + 468.15, + 0.0, + -34.499, + 0.0 + ], + [ + 785.892, + 1854.43, + 468.15, + 0.0, + -59.499, + 0.0 + ], + [ + 841.89, + 1851.569, + 468.15, + 0.0, + -59.499, + 0.0 + ], + [ + 841.89, + 1851.569, + 468.15, + 0.0, + -84.499, + 0.0 + ], + [ + 841.89, + 1851.569, + 468.15, + 0.0, + -109.499, + 0.0 + ], + [ + 841.89, + 1851.569, + 468.15, + 0.0, + -109.499, + 0.0 + ], + [ + 841.89, + 1851.569, + 468.15, + 0.0, + -109.499, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see the small console table with its vases along the left wall, and only the edge of a white paneled door is visible at the far right of my view. I will turn right to bring that door and the hallway in front of it fully into view so I can judge the route toward it.", + "The turn has opened up the hallway, and the white paneled door beside the console table now stands clearly ahead along the left wall, with a second door farther down the corridor. The floor between me and it is clear, so I will move forward to close the distance to the nearer paneled door.", + "The paneled door on my left is much larger now, but I am still positioned in the corridor rather than in front of its face and handle. I will advance again to reach a distance where the latch is within reach.", + "I am now right alongside the target door, whose panels fill the left half of my view while my heading still points down the hallway toward the far door. I will turn left to face the paneled door directly and bring its handle into the center of my view.", + "Turning has squared me up with the door, and its brass lever and keyhole are clearly in front of me. I will step forward to be close enough for the latch to be within interaction range.", + "Standing this close, I can only see blank door panelling with the jamb along the right edge, which means my view has drifted toward the hinge side and away from the latch. I will turn left to swing my view back toward the handle side of the door.", + "My view is still filled with two plain panels and the stile between them, so the lever and lock are still outside the frame to my left. I will turn left once more to bring the latch area of the door into view for the interaction.", + "The brass lever and keyhole of the white paneled door are now clearly in front of me at close range, so I am squared up on the latch side. I will attempt to open the door from here, which should release the latch and swing it inward.", + "I now see the open doorway with the bathroom interior clear in front of me. The door is open, so my task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000586_y001804_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000586_y001804_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b7ca4f413914544d347105cf52fc8bbe2dd703 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000586_y001804_z000168_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the floor lamp.", + "Type": 0, + "Start_Pose": [ + 586.239, + 1803.782, + 168.15, + 0.0, + -20.634, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 586.239, + 1803.782, + 168.15, + 0.0, + -20.634, + 0.0 + ], + [ + 586.239, + 1803.782, + 168.15, + 0.0, + 4.366, + -0.0 + ], + [ + 586.239, + 1803.782, + 168.15, + 0.0, + 29.366, + -0.0 + ], + [ + 695.926, + 1865.502, + 168.15, + 0.0, + 29.366, + -0.0 + ], + [ + 695.926, + 1865.502, + 168.15, + 0.0, + 4.366, + -0.0 + ], + [ + 821.42, + 1875.083, + 168.15, + 0.0, + 4.366, + -0.0 + ], + [ + 821.42, + 1875.083, + 168.15, + 0.0, + -20.634, + 0.0 + ], + [ + 939.205, + 1830.731, + 168.15, + 0.0, + -20.634, + 0.0 + ], + [ + 1034.672, + 1800.389, + 168.15, + 0.0, + -20.634, + 0.0 + ], + [ + 1034.672, + 1800.389, + 168.15, + 0.0, + -45.634, + 0.0 + ], + [ + 1034.672, + 1800.389, + 168.15, + 0.0, + -45.634, + 0.0 + ] + ], + "Rationale": [ + "I can see the lit floor lamp standing beside the bookcase across the room, but the long sofa directly in front of me blocks any straight path toward it. I will turn right to bring the open floor on that side into view and look for a walkable route around the sofa.", + "The lamp is now off to my left near the bookcase, while the wide clear floor stretches ahead and to my right past the sofa's end. I will turn right once more to face that open lane, which should give me an unobstructed line of travel before I swing back toward the lamp.", + "I am now facing the open floor between the sofa and the stairs, with no furniture in my way. Moving forward should carry me clear of the sofa and closer to the level of the lamp, which is glowing just off my left edge.", + "Having advanced past the sofa, my heading now points toward the kitchen and stairs while the lamp has slipped out to my left. I will turn left to bring the lamp and its bookcase back into the front of my view and set up a direct approach.", + "The floor lamp is back in view on my left, standing beside the tall bookcase with clear floor between us. I will move forward to cut down that remaining distance before making a final turn toward it.", + "I am now close to the lamp, but it sits well to my left while my heading points down toward the kitchen. Turning left should center the lamp in front of me so the last steps run straight at it.", + "The floor lamp is now roughly centered ahead beside the bookcase, with open floor between us. I will move forward to close the remaining gap and stand beside it.", + "The lamp shade and pole now fill much of my view just left of center, so I am only a short step away from the wall it stands against. One more forward step should bring me right up beside the lamp.", + "I am now right up against the wall beside the lamp, and only a sliver of its shade remains at the far left edge of my view while the rest of the frame is blank wall. Turning left should swing the lamp back into the center of my view so I can confirm I am standing at it.", + "The floor lamp's shade and stem fill my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000596_y001213_z000144_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000596_y001213_z000144_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d61905e27882fa275af19617a7484abed056dafd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000596_y001213_z000144_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Find and go to the red car near the garage.", + "Type": 1, + "Start_Pose": [ + 596.204, + 1213.151, + 144.346, + -0.05, + 9.493, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 9.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 34.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 59.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 84.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 109.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 134.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + 159.493, + -0.0 + ], + [ + 596.204, + 1213.151, + 144.346, + -0.05, + -175.507, + 0.0 + ], + [ + 470.732, + 1203.292, + 143.695, + -0.05, + -175.507, + 0.0 + ], + [ + 350.152, + 1199.749, + 143.46, + -0.05, + -175.507, + 0.0 + ], + [ + 228.225, + 1198.25, + 143.361, + -0.05, + -175.507, + 0.0 + ], + [ + 170.279, + 1193.344, + 143.06, + -0.05, + -175.507, + 0.0 + ], + [ + 170.279, + 1193.344, + 143.06, + -0.05, + -175.507, + 0.0 + ] + ], + "Rationale": [ + "From this porch I can only see the lawn, the neighboring houses, and the flower box beside the railing, with no red car or garage anywhere ahead. I will turn right to begin a consistent scan along the side of this house, where a driveway or garage is more likely to be. This should open up a part of the yard that is currently hidden by the porch structure.", + "The view now runs along the porch with its posts, windows, and the flag, but there is still no sign of a garage or a red car. I will keep turning right in the same direction to continue the scan smoothly rather than reversing my sweep. The area farther around this corner of the house remains unseen and is the next place worth checking.", + "My view is now mostly white siding, shuttered windows, and a shrub at the porch edge, so nothing here matches the red car or the garage. I will continue rotating right to sweep past this wall toward the far end of the house. The driveway side should come into view if I keep the scan going in the same direction.", + "The wall and the leafy bush still fill most of my view, and I can just see the porch edge giving way to grass on the right. I will turn right again to clear this obstruction and look along the end of the building. That direction is the most promising unseen area for a driveway or garage.", + "A wide white garage door with a wall lantern has come into view at the right edge of my sight, which is a strong cue that I have reached the garage side of the house. I will turn right once more to face that garage area squarely and look for the red car parked near it. The pavement beyond the grass suggests a driveway I cannot yet see fully.", + "The garage door is now clearly in front of me and I can catch a sliver of red bodywork at the far right edge of my view, out on the driveway concrete. I will keep turning right to bring that red shape fully into sight and confirm it is the car I need. This matches the garage cue the task described.", + "I can now see a dark red car parked on the driveway to my right, with the garage door just to my left, so the target is identified. I will turn right a bit more to center the car in my view before advancing. That should give me a clean straight heading across the driveway toward it.", + "The red car is now centered ahead of me on the driveway beside the garage, clearly the target described in the task. I will walk forward across the grass and pavement to close the distance to it. The route looks open apart from the low lamp posts, which I can pass between.", + "The red car is clearly in view on the driveway right beside the garage, so it is the target and no further scanning is needed. I still have several meters of open paved surface between me and its front end, so I will keep walking straight ahead to close that gap.", + "The red car now dominates the right side of my view with its front wheel and fender clearly detailed, showing my previous step brought me noticeably closer. There is still open driveway between me and the vehicle, so I will advance again to reach a position directly beside it.", + "The car's hood and headlight now occupy the lower portion of my view, so I am nearly alongside the target. One more short step forward should place me right at the vehicle rather than just short of it.", + "The red car's body fills my view at arm's length, with the garage wall directly beside me. The task is complete, so I stop here at the target." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000602_y001658_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000602_y001658_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c55c270bf0052a708f56bc62e20194777ea9faaf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000602_y001658_z000468_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Turn from the sink area to the white bathroom door and open it.", + "Type": 4, + "Start_Pose": [ + 601.599, + 1657.759, + 468.15, + 0.0, + -54.762, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 601.599, + 1657.759, + 468.15, + 0.0, + -54.762, + 0.0 + ], + [ + 601.599, + 1657.759, + 468.15, + 0.0, + -29.762, + 0.0 + ], + [ + 601.599, + 1657.759, + 468.15, + 0.0, + -4.762, + 0.0 + ], + [ + 601.599, + 1657.759, + 468.15, + 0.0, + 20.238, + -0.0 + ], + [ + 719.688, + 1701.296, + 468.15, + 0.0, + 20.238, + -0.0 + ], + [ + 719.688, + 1701.296, + 468.15, + 0.0, + 45.238, + -0.0 + ], + [ + 806.464, + 1746.064, + 468.15, + 0.0, + 45.238, + -0.0 + ], + [ + 806.464, + 1746.064, + 468.15, + 0.0, + 70.238, + -0.0 + ], + [ + 806.464, + 1746.064, + 468.15, + 0.0, + 70.238, + -0.0 + ], + [ + 806.464, + 1746.064, + 468.15, + 0.0, + 70.238, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the window and toilet at the sink area, and no white door is anywhere in my view. I will turn right to sweep the room and locate the bathroom door named in the task.", + "The vanity and mirror are now centered ahead, with only blank wall and tiled floor beyond them, so the door is still outside my field of view. I will keep turning right to continue scanning toward the far wall of the bathroom.", + "A tall white panelled door with a brass handle has just come into view at the right edge of my sight, partly cut off. I will turn right again to bring that door closer to the center of my view before moving toward it.", + "The white panelled door is now clearly ahead of me across the tiled floor with nothing blocking the path. I will move forward to close the distance so the handle comes within reach.", + "After closing in, the door and its brass lever sit toward the right of my view while blank wall fills the left. I will turn right to square my heading with the door face so my approach lands in front of the handle.", + "The door leaf and its handle are now roughly centered in front of me, but I am still a short step away from touching distance. I will move forward to reach the door face for the handle interaction.", + "I am right up against the door and only its panels and the frame on my left fill my view, with the handle no longer visible. I will turn right to bring the latch side and its lever back into my working view.", + "The brass lever handle and lock cylinder are now directly in front of me at close range on the door's latch side. I will operate the handle to try to open this white bathroom door.", + "The white door now stands open, revealing the railed landing beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000608_y-001933_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000608_y-001933_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ead62e9d1a485ecbad1f7df2a8dbb09e38f0ab0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000608_y-001933_z000168_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Search the red bedroom until the white paneled door comes into view, then open it.", + "Type": 4, + "Start_Pose": [ + 607.622, + -1932.792, + 168.15, + 0.0, + -170.453, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 607.622, + -1932.792, + 168.15, + 0.0, + -170.453, + 0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 164.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 139.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 114.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 89.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 64.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 39.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + 14.547, + -0.0 + ], + [ + 607.622, + -1932.792, + 168.15, + 0.0, + -10.453, + 0.0 + ], + [ + 731.183, + -1948.458, + 168.15, + 0.0, + -10.453, + 0.0 + ], + [ + 731.183, + -1948.458, + 168.15, + 0.0, + -35.453, + 0.0 + ], + [ + 731.183, + -1948.458, + 168.15, + 0.0, + -35.453, + 0.0 + ], + [ + 731.183, + -1948.458, + 168.15, + 0.0, + -35.453, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I only see the red patterned wallpaper, a nightstand with a lit lamp, and framed pictures, with no white paneled door anywhere in view. I will turn left to begin sweeping this bedroom for the door I need to find.", + "The sweep has brought the bed's headboard and a wall shelf into view, but this stretch of red wall holds no door. I will keep rotating left to expose more of the room.", + "I am now looking across the bed toward a papered corner with a framed print, still with no white paneled door in sight. Continuing to turn left should reveal the wall sections still hidden from me.", + "A curtained window has come into view, which tells me this is the exterior wall rather than a doorway. I will keep turning left to reach the walls beyond the window.", + "The window is centered ahead and only a pale cabinet edge appears at the left margin, so the paneled door must lie further around. I will continue the leftward sweep toward that unexplored side of the room.", + "Now a tall chest, a dresser with a plant, and the window edge fill my view, but no paneled door yet. Turning left again should bring the remaining wall past the furniture into view.", + "The white louvered closet doors ahead are slatted rather than the paneled door described in my task, so this is not my target. I will turn left again to check the wall continuing past the closet.", + "At the left edge of my view a smooth white door slab with a hinge is now appearing beside the louvered closet, which looks like the paneled door I am searching for. I will turn left once more to bring it properly into view.", + "Scanning the red patterned bedroom has brought a white paneled door with a brass lever handle into view on the left side of my ego view, next to the louvered wardrobe. It is still several steps away across the carpet, so I will move forward to close that gap and get within reach of the handle. This should put me at the doorway where an opening interaction becomes possible.", + "Now that I am close to the wall, my view is filled by the louvered wardrobe doors and only the pale frame edge of the paneled door remains at the far left. Turning left should swing the white paneled door back to the center of my view so I can face its handle squarely.", + "The white paneled door now fills the left half of my view at close range, with its recessed panels and frame clearly in front of me. This is the door the task named, and I am within reach of it, so I will attempt to open it.", + "The white paneled door now stands swung open, revealing the lit hallway beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000610_y-000934_z000126_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000610_y-000934_z000126_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a5a178d9f3da0817348a6abdba6b5b42b588b04d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000610_y-000934_z000126_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the lawn to the dark grid-window front door of the blue house and open it.", + "Type": 4, + "Start_Pose": [ + 609.933, + -933.833, + 125.892, + 0.0, + -144.369, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 609.933, + -933.833, + 125.892, + 0.0, + -144.369, + 0.0 + ], + [ + 507.637, + -1007.154, + 130.736, + 0.0, + -144.369, + 0.0 + ], + [ + 507.637, + -1007.154, + 130.736, + 0.0, + -119.369, + 0.0 + ], + [ + 445.911, + -1116.837, + 137.982, + 0.0, + -119.369, + 0.0 + ], + [ + 384.186, + -1226.521, + 145.228, + 0.0, + -119.369, + 0.0 + ], + [ + 322.461, + -1336.204, + 148.127, + 0.0, + -119.369, + 0.0 + ], + [ + 322.461, + -1336.204, + 148.127, + 0.0, + -94.369, + 0.0 + ], + [ + 312.873, + -1461.698, + 165.15, + 0.0, + -94.369, + 0.0 + ], + [ + 306.208, + -1554.751, + 165.15, + 0.0, + -94.369, + 0.0 + ], + [ + 306.208, + -1554.751, + 165.15, + 0.0, + -94.369, + 0.0 + ], + [ + 306.208, + -1554.751, + 165.15, + 0.0, + -94.369, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The blue house with the dark grid-window front door stands ahead to my right across an open stretch of lawn. I will move forward over the grass to close the large gap before worrying about fine alignment with the doorway.", + "From here the grid-window door sits off to the right side of my view rather than straight ahead, and shrubs cover the ground directly in front of me. I will turn right to bring the doorway closer to the center of my heading before continuing forward.", + "The dark grid-window door now reads near the middle of my view with the walkway and porch clearly ahead. I will move forward along this heading to keep shrinking the distance to the porch.", + "The porch decking and the door frame have grown noticeably larger, so I am still short of interaction range. Another forward step should carry me up to the deck in front of the doorway.", + "The grid-window door and its brass handle are close now, but the deck ahead of it is still empty in front of me. I will move forward once more to stand on the porch near the door.", + "Standing on the porch, the door sits to the right of my view center with the wall and window stretching to my left. I will turn right to square my heading with the door leaf so a later interaction can be made from a straight-on position.", + "The grid-window door is now centered in front of me with the porch light on the wall beside it, but I am still a step back from the handle. I will move forward to close that last gap and get within reach.", + "The brass knob and its plate are already large in view, showing I am nearly at the door but not fully at the threshold. A short forward step should place me right at the handle so the door can be operated.", + "I am now right up against the dark front door, with its brass handle and the white frame filling my view at arm's length. This is close enough to reach the latch, so I will try to open the door now.", + "The door now stands open and I can see the interior room with its sofa and bookshelves. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000629_y001893_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000629_y001893_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e73016468b1cb09aeac6efdb1c534126080c924 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000629_y001893_z000168_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search the house and navigate to the dining table in the kitchen.", + "Type": 1, + "Start_Pose": [ + 628.707, + 1892.745, + 168.15, + -0.05, + -130.8, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 628.707, + 1892.745, + 168.15, + -0.05, + -130.8, + -0.0 + ], + [ + 628.707, + 1892.745, + 168.15, + -0.05, + -105.8, + -0.0 + ], + [ + 628.707, + 1892.745, + 168.15, + -0.05, + -80.8, + -0.0 + ], + [ + 628.707, + 1892.745, + 168.15, + -0.05, + -55.8, + -0.0 + ], + [ + 628.707, + 1892.745, + 168.15, + -0.05, + -30.8, + -0.0 + ], + [ + 628.707, + 1892.745, + 168.15, + -0.05, + -5.8, + -0.0 + ], + [ + 753.922, + 1880.026, + 168.15, + -0.05, + -5.8, + -0.0 + ], + [ + 879.136, + 1867.307, + 168.15, + -0.05, + -5.8, + -0.0 + ], + [ + 879.136, + 1867.307, + 168.15, + -0.05, + 19.2, + -0.0 + ], + [ + 997.994, + 1908.698, + 168.15, + -0.05, + 19.2, + -0.0 + ], + [ + 1112.845, + 1954.444, + 168.15, + -0.05, + 19.2, + -0.0 + ], + [ + 1112.845, + 1954.444, + 168.15, + -0.05, + 44.2, + -0.0 + ], + [ + 1203.075, + 2042.188, + 168.15, + -0.05, + 44.2, + -0.0 + ], + [ + 1203.075, + 2042.188, + 168.15, + -0.05, + 44.2, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a living room with a television, a dresser and a tall cabinet, so no dining table is in sight. I will turn right to begin a steady scan of this room for a doorway or opening that leads toward the kitchen.", + "This heading reveals a chandelier, a curtained window and a small round side table, none of which is the dining table in the kitchen. I will keep rotating right in the same direction to uncover more of the room and any adjoining space.", + "Now I face a sofa under the window, still clearly living-room furniture rather than a kitchen dining set. Continuing the same rightward scan should bring the far side of the room and any passage into view.", + "Past the sofa I can now see a bookcase and, farther right, a brighter open area that looks like it continues beyond this room. I will turn right again to bring that opening fully into view.", + "On the right side of my view I can now make out white cabinetry, a range hood and an oven, which is a strong sign of the kitchen. I will turn right once more to put that kitchen opening in front of me before walking toward it.", + "Straight ahead and slightly right, through the gap beside the column, I can see the kitchen with a light round table and chairs beneath a hanging lamp. The floor between us is clear, so I will walk forward to close the distance to that dining table.", + "The kitchen dining table and its chairs are clearly larger now and still ahead to my right, so my approach is on track. I will step forward again to keep closing in on it.", + "The column and wall on my left now fill much of the view while the dining table sits at the right edge, partly cut off. I will turn right to center the table in front of me so my next steps lead straight to it.", + "The kitchen opening is now clear ahead of me, with the round dining table and its chairs visible beside the stove and cabinets. I will walk forward to close the remaining distance into that kitchen area.", + "I have entered the kitchen and the dining table with its candlestick is plainly in view slightly to my right, still several steps off. Another step forward should bring me close enough to the table to finish the approach.", + "The dining table is close now, but it sits off to the right edge of my view while my heading points at the counters and window. I will turn right to bring the table squarely in front of me before stepping in.", + "The round dining table is now centered ahead of me with chairs on both sides, just beyond arm's reach. I will step forward to stand right at the table.", + "The kitchen dining table edge and its candlestick are directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000634_y002081_z000451_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000634_y002081_z000451_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d391012e2870a8f023cdfce27c71bfb1a2db381f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000634_y002081_z000451_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the small table against the wall.", + "Type": 0, + "Start_Pose": [ + 633.993, + 2081.024, + 450.712, + -0.301, + -72.855, + 0.0 + ], + "Action": [ + "MoveBackward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 633.993, + 2081.024, + 450.712, + -0.301, + -72.855, + 0.0 + ], + [ + 605.486, + 2130.819, + 467.801, + -0.301, + -72.855, + -0.0 + ], + [ + 605.486, + 2130.819, + 467.801, + -0.301, + -97.855, + -0.0 + ], + [ + 578.883, + 2076.361, + 468.149, + -0.301, + -97.855, + -0.0 + ], + [ + 578.883, + 2076.361, + 468.149, + -0.301, + -72.855, + -0.0 + ], + [ + 558.479, + 2014.517, + 468.149, + -0.301, + -72.855, + -0.0 + ], + [ + 580.977, + 1895.019, + 468.149, + -0.301, + -72.855, + -0.0 + ], + [ + 580.977, + 1895.019, + 468.149, + -0.301, + -47.855, + 0.0 + ], + [ + 580.977, + 1895.019, + 468.149, + -0.301, + -47.855, + 0.0 + ] + ], + "Rationale": [ + "The small table with its picture frame and vases sits against the far wall ahead, but a stair balustrade runs across my whole view and blocks any straight line to it. I will back away from the railing to open up space so I can pick a route around the stairwell rather than into it.", + "From this pulled back position the newel post and stair rail dominate the right and center of my view, while open floor extends on the left side of the landing. I will turn left to face that open stretch, which looks like the passable way toward the wall where the table stands.", + "Facing the open part of the room, I can see clear floor ahead with a potted plant near the far corner and the small table still partly hidden behind the rail on my right. I will move forward along this clear stretch to get past the stairwell and closer to that wall.", + "The small table with the framed picture and vase is now unobstructed and sits to the right of my heading, against the wall under the two paintings. I will turn right to point my heading straight at it before closing the remaining distance.", + "The table now sits ahead in my view along the wall with the paintings, and the floor between us is clear. I will move forward to cut down that gap.", + "The table, its picture frame and two vases are large in my view and centered slightly left, so I am close but not yet standing at it. I will move forward again to finish closing on the table against the wall.", + "I am now right up against the wall, so most of my view is blank plaster with only the table's edge and a vase at the lower right corner. I will turn right to bring the table properly back into the center of my view and confirm I am standing at it.", + "The small table with its two vases stands directly in front of me against the wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000648_y-002221_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000648_y-002221_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4ee8b860151b0639b7746c99626438209b6803b3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000648_y-002221_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door directly ahead, beside the upholstered bench.", + "Type": 4, + "Start_Pose": [ + 648.305, + -2221.485, + 168.277, + 0.0, + 85.659, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 648.305, + -2221.485, + 168.277, + 0.0, + 85.659, + -0.0 + ], + [ + 657.832, + -2095.987, + 168.943, + 0.0, + 85.659, + -0.0 + ], + [ + 657.832, + -2095.987, + 168.943, + 0.0, + 85.659, + -0.0 + ], + [ + 657.832, + -2095.987, + 168.943, + 0.0, + 60.659, + -0.0 + ], + [ + 725.981, + -2047.015, + 168.15, + 0.0, + 60.659, + -0.0 + ], + [ + 725.981, + -2047.015, + 168.15, + 0.0, + 60.659, + -0.0 + ], + [ + 725.981, + -2047.015, + 168.15, + 0.0, + 60.659, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits ahead on the left wall beside the upholstered bench, but it is still several steps away and its handle is far out of reach. I will move forward across the floor to close that gap and bring the latch within interaction range.", + "I am now close to the wall with the door's brass lever and deadbolt visible at the left edge of my view, so the latch should be within reach. I will attempt to open the door from here.", + "My attempt to open it left the door still closed, and I can see why: the panel and its lever sit at the far left margin of my view while I am mostly facing the blank wall and light switch. I will turn left to square up with the door so the handle lies in front of me instead of at the edge.", + "After reorienting, the paneled door and its brass lever now sit near the center of my view rather than at the margin. Since the earlier attempt from farther back did not move the door, I will step forward to stand directly at the panel and the latch.", + "The paneled door face now fills my view, so I am standing squarely against it and directly at the latch after correcting my heading. I will attempt to open it from this contact position, which should let the door swing free.", + "The paneled door now stands open, revealing the carpeted room and window beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000654_y002131_z000447_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000654_y002131_z000447_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45cfc8619d21618cc3b7a3dd3fc42b44e66f92d1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000654_y002131_z000447_t4_a/infos.json @@ -0,0 +1,227 @@ +{ + "Instruction": "Open the white paneled door directly across the upstairs railing.", + "Type": 4, + "Start_Pose": [ + 653.532, + 2131.17, + 446.818, + 0.0, + -79.42, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 653.532, + 2131.17, + 446.818, + 0.0, + -79.42, + 0.0 + ], + [ + 653.532, + 2131.17, + 446.818, + 0.0, + -104.42, + 0.0 + ], + [ + 625.527, + 2081.138, + 459.502, + 0.0, + -104.42, + 0.0 + ], + [ + 625.527, + 2081.138, + 459.502, + 0.0, + -129.42, + 0.0 + ], + [ + 552.739, + 2051.698, + 468.15, + 0.0, + -129.42, + 0.0 + ], + [ + 552.739, + 2051.698, + 468.15, + 0.0, + -104.42, + 0.0 + ], + [ + 552.739, + 2051.698, + 468.15, + 0.0, + -79.42, + 0.0 + ], + [ + 566.338, + 1928.119, + 468.15, + 0.0, + -79.42, + 0.0 + ], + [ + 566.338, + 1928.119, + 468.15, + 0.0, + -54.42, + 0.0 + ], + [ + 566.338, + 1928.119, + 468.15, + 0.0, + -29.42, + 0.0 + ], + [ + 673.815, + 1896.778, + 468.15, + 0.0, + -29.42, + 0.0 + ], + [ + 781.511, + 1860.919, + 468.15, + 0.0, + -29.42, + 0.0 + ], + [ + 781.511, + 1860.919, + 468.15, + 0.0, + -54.42, + 0.0 + ], + [ + 781.511, + 1860.919, + 468.15, + 0.0, + -54.42, + 0.0 + ], + [ + 846.441, + 1851.572, + 468.15, + 0.0, + -54.42, + 0.0 + ], + [ + 846.441, + 1851.572, + 468.15, + 0.0, + -79.42, + 0.0 + ], + [ + 864.422, + 1851.572, + 468.15, + 0.0, + -79.42, + 0.0 + ], + [ + 864.422, + 1851.572, + 468.15, + 0.0, + -79.42, + 0.0 + ], + [ + 864.422, + 1851.572, + 468.15, + 0.0, + -79.42, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the white paneled door sits across the upstairs opening, but the wooden railing runs straight between me and it, so I cannot walk at it directly. I will turn left toward the open stretch of floor beside the stair opening to look for a walkable route around the railing.", + "Facing this way I have clear floor ahead along the near side of the stair opening, with the newel post and railing off to my right rather than in my path. I will move forward to work my way around the railing toward the side of the landing where the paneled door stands.", + "The newel post and the sloping handrail now fill the space straight ahead, so pressing forward on this heading would just push me into the woodwork. I will turn left to bring the open floor and far wall into view and find a passable line past the stairwell.", + "With the post now to my right, I can see clear floorboards running toward the far wall and the potted plant in the corner. I will move forward along this open stretch to get clear of the stairwell before turning back toward the door side of the landing.", + "I have come close to the corner wall with the potted plant, and there is no further travel available straight ahead. I will turn right to swing my heading back toward the landing side where the white paneled door should lie.", + "My view is still filled by a blank corner wall with a potted plant, and only the edge of a side table appears at the right, so the target doorway is not yet in sight. I will turn right again to keep sweeping my heading toward the open part of the landing where the paneled door should stand.", + "Now the landing wall with its two framed pictures and console table is in front of me, and a white paneled door with a brass handle is just visible past the right edge of that wall. I will move forward to close the gap toward that side of the landing so the doorway comes into reachable range.", + "My forward motion has taken me right up against the landing wall, which now fills almost the entire view above the console table, and the door has dropped out of sight. I will turn right to pull my heading off this blank wall and bring the doorway side of the hallway back into view.", + "Turning off the wall has brought a white paneled door into view on the right side of my field, but I am still angled partly at the wall and table. I will turn right once more so my heading lines up down the hallway toward that doorway.", + "I am now looking straight down the upstairs hallway with the wooden railing on my right and a white paneled door standing at the far end across from it, which matches the door I was asked to open. I will move forward along the hallway to close the distance to that door.", + "The white paneled door sits ahead at the end of this upstairs hallway, still a few steps away, with another door panel close on my left. I will move forward again to close that remaining gap so the target door and its handle come within reach.", + "I am now right beside the white paneled door, whose leaf and handle lie to my left while my heading still points down the hallway. Turning left should square me up with the door face and bring its latch into the center of my view for an interaction.", + "The white door fills my view with its keyhole and lever handle plainly visible in front of me. I am facing the latch directly, so I will try to open it now and expect the leaf to swing free.", + "My attempt at the handle left the door exactly as it was, still shut in front of me. I will step forward to tighten the distance to the leaf so a renewed interaction is more likely to register on the latch.", + "Now that I am pressed close, my view is drifting onto the jamb and frame edge at the right rather than the door leaf itself, and my earlier attempt on this door did not move it. Turning left should recenter the paneled leaf and its latch area in front of me for a better aligned attempt.", + "My view is filled entirely by the white paneled door's face, so I am facing it squarely but my earlier handle attempt from the previous stance did not move the door at all. I will edge forward a short amount to close the last bit of gap and place myself firmly within reach of this panel. That small adjustment should give me a better contact position before I try the latch again.", + "I am now pressed close and squarely centered on this white paneled door after nudging forward, since my earlier attempt from a slightly different stance left the door shut. From this tighter position I will try the latch again, and it may release and swing the door open this time.", + "I can see the door swung inward, revealing the room with its window and vanity beyond. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000657_y-000905_z000124_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000657_y-000905_z000124_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a119ca8993301151c88736c00b8302aff3a5f7cb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000657_y-000905_z000124_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the dark grid-window door on the covered porch of the blue house.", + "Type": 4, + "Start_Pose": [ + 656.713, + -905.368, + 124.012, + 0.0, + -115.115, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 656.713, + -905.368, + 124.012, + 0.0, + -115.115, + 0.0 + ], + [ + 603.294, + -1019.328, + 131.541, + 0.0, + -115.115, + 0.0 + ], + [ + 549.875, + -1133.288, + 139.069, + 0.0, + -115.115, + 0.0 + ], + [ + 496.456, + -1247.248, + 146.598, + 0.0, + -115.115, + 0.0 + ], + [ + 443.011, + -1354.0, + 148.053, + 0.0, + -115.115, + 0.0 + ], + [ + 381.391, + -1440.615, + 164.088, + 0.0, + -115.115, + 0.0 + ], + [ + 327.972, + -1554.575, + 165.026, + 0.0, + -115.115, + 0.0 + ], + [ + 327.972, + -1554.575, + 165.026, + 0.0, + -115.115, + 0.0 + ], + [ + 327.972, + -1554.575, + 165.026, + 0.0, + -115.115, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the lawn I can see the blue house with its covered porch, and the dark grid-window door sits ahead near the middle of the porch wall. It is still far off across the grass, so I will move forward to close that distance while keeping the door in view.", + "The porch and the target door have grown larger and remain nearly straight ahead of my heading, so no turn is needed. I will continue forward to keep closing on the door.", + "The porch deck and its wooden steps are now clearly ahead, with the grid-window door directly beyond them. The path over the walkway and grass is unobstructed, so I will keep advancing.", + "I am close enough now that the porch ceiling and support post frame my view, and the dark door with its nine-pane window is plainly ahead. I am still short of arm's reach, so I will move forward again.", + "The door now fills much of the view with its brass knob visible, but I am not yet at the threshold. I will step forward once more to bring the handle within interaction range.", + "The door panel and its knob are large and close, slightly left of my center, so a final short advance should place me squarely at the door. I will move forward to settle into contact range with the handle.", + "I am right up against the dark grid-window door with the brass knob and lock plate filling the near view, so the handle is well within reach. I will attempt to open the door from this position.", + "The grid-window door now stands swung open with the lit interior floor visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef75b3c896ff5f7a23b4628a9bb13fc985ef4f0d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the bottom of the stairs.", + "Type": 0, + "Start_Pose": [ + 664.082, + 1614.241, + 169.15, + -0.05, + 76.078, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 664.082, + 1614.241, + 169.15, + -0.05, + 76.078, + -0.0 + ], + [ + 694.364, + 1736.403, + 169.15, + -0.05, + 76.078, + -0.0 + ], + [ + 721.839, + 1858.628, + 168.26, + -0.05, + 76.078, + -0.0 + ], + [ + 721.839, + 1858.628, + 168.26, + -0.05, + 51.078, + -0.0 + ], + [ + 721.839, + 1858.628, + 168.26, + -0.05, + 26.078, + 0.0 + ], + [ + 834.885, + 1913.955, + 168.26, + -0.05, + 26.078, + 0.0 + ], + [ + 947.931, + 1969.282, + 168.26, + -0.05, + 26.078, + 0.0 + ], + [ + 947.931, + 1969.282, + 168.26, + -0.05, + 51.078, + 0.0 + ], + [ + 1019.348, + 1988.47, + 168.15, + -0.05, + 51.078, + 0.0 + ], + [ + 1019.348, + 1988.47, + 168.15, + -0.05, + 76.078, + -0.0 + ], + [ + 1019.348, + 1988.47, + 168.15, + -0.05, + 101.078, + 0.0 + ], + [ + 1019.348, + 1988.47, + 168.15, + -0.05, + 101.078, + 0.0 + ] + ], + "Rationale": [ + "The staircase is clearly in front of me, rising from left to right against the far wall, so the bottom of the flight lies on the left side of that run. The floor ahead is open beside the sofa, so I will move forward to close distance on the stair structure before working toward its lower end.", + "The stairs and their railing now fill more of my view, and the lowest steps sit to the left where the floor meets the dining area. Nothing blocks the path directly ahead, so another forward step should bring me near enough to turn toward that lower end.", + "I am now close under the stair run, and the blank sloped wall dominates the right of my view while the descending steps continue off to the left. Turning left should swing my heading toward the low end of the flight instead of into the wall beneath it.", + "The stair run is now angled across the right of my view with the lowest steps and dining area toward the left, so I am not yet pointed down the open path beside the stairs. A second left turn should line my heading with that open floor leading to the base of the flight.", + "I am now facing along the open hallway with the stair railing and its lowest steps on my right side. Moving forward should carry me alongside the flight and closer to the level where the bottom step meets the floor.", + "The bottom of the stairs is still slightly behind the railing posts on my right rather than beside me, and the hallway ahead remains clear. One more forward step should bring me level with the base of the flight so I can face it squarely.", + "I have drawn level with the stair base, which is now the newel post and railing at the right edge of my view, while the kitchen fills the space straight ahead. Turning right should bring that bottom section of the stairs into the center of my view.", + "The newel post and the first treads of the flight are now to my right front, but I am still a short gap away from standing at the foot of the stairs. A small forward step should close that remaining distance without pushing me past the base.", + "I am now standing beside the dining area, and the staircase structure has slipped to the far right edge of my view while the kitchen and windows dominate ahead. To settle at the foot of the steps I need my heading swung toward that stair side, so I will turn right to bring the base of the staircase back into the center of my view.", + "The turn has brought the lowest treads and part of the stair structure into the right portion of my view, but my heading is still mostly toward the exterior window wall. One more turn to the right should place the bottom of the staircase squarely in front of me for a clean stopping pose.", + "The newel post and lowest treads of the staircase stand directly in front of me at floor level. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e816d322a51b90e657f8ea71faf59555c1a59bcf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First head to the floor lamp, then go to the dining table.", + "Type": 3, + "Start_Pose": [ + 664.082, + 1614.241, + 169.15, + -0.05, + 36.558, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 664.082, + 1614.241, + 169.15, + -0.05, + 36.558, + 0.0 + ], + [ + 664.082, + 1614.241, + 169.15, + -0.05, + 61.558, + -0.0 + ], + [ + 705.957, + 1723.765, + 168.492, + -0.05, + 61.558, + -0.0 + ], + [ + 720.978, + 1831.465, + 168.238, + -0.05, + 61.558, + -0.0 + ], + [ + 720.978, + 1831.465, + 168.238, + -0.05, + 36.558, + -0.0 + ], + [ + 720.978, + 1831.465, + 168.238, + -0.05, + 11.558, + 0.0 + ], + [ + 844.285, + 1856.682, + 168.238, + -0.05, + 11.558, + 0.0 + ], + [ + 844.285, + 1856.682, + 168.238, + -0.05, + -13.442, + 0.0 + ], + [ + 966.696, + 1827.425, + 168.238, + -0.05, + -13.442, + 0.0 + ], + [ + 966.696, + 1827.425, + 168.238, + -0.05, + -13.442, + 0.0 + ], + [ + 966.696, + 1827.425, + 168.238, + -0.05, + 11.558, + 0.0 + ], + [ + 966.696, + 1827.425, + 168.238, + -0.05, + 36.558, + -0.0 + ], + [ + 1047.867, + 1903.423, + 168.15, + -0.05, + 36.558, + -0.0 + ], + [ + 1126.624, + 1982.392, + 168.15, + -0.05, + 36.558, + -0.0 + ], + [ + 1208.959, + 2038.955, + 168.15, + -0.05, + 36.558, + -0.0 + ], + [ + 1208.959, + 2038.955, + 168.15, + -0.05, + 36.558, + -0.0 + ] + ], + "Rationale": [ + "The lit floor lamp stands beside the bookcase to my left, but the long sofa sits directly between me and it. Turning right brings the open floor near the staircase into view, which should give me a walkable route around that couch.", + "The floor ahead beside the sofa and under the staircase is clear of furniture. I will walk forward to get past the couch and into the open room, from where the lamp corner should be reachable.", + "I have cleared the sofa and stand on open floor with the stairs to my right and the dining area visible far ahead on the left. Another step forward should bring me deeper into the open space where I can swing back toward the lamp side.", + "The stair stringer now fills most of my view, and the lamp lies well off to my left behind the partition wall. I will turn left to swing my heading away from the staircase and back toward the side of the room where the lamp stands.", + "The kitchen and dining corner sit ahead on my left, but the lamp is still further left, hidden past the pale column. A second turn in that direction should bring the bookcase wall and its lamp into my view.", + "The lit floor lamp is now in view on my left beside the tall bookcase, with clear floor between us. I will step forward along the open room to close the remaining distance toward that corner.", + "The lamp has slid to the far left edge of my view as I advanced, and my heading now points down the room toward the kitchen. Turning left should put the lamp and its bookcase squarely in front of me for a straight approach.", + "The floor lamp now stands clearly ahead of me next to the bookcase, only a short stretch of empty floor away. I will walk forward to close that last gap and stand at the lamp.", + "The tall shade and slim metal stem of the floor lamp fill the left of my view, close enough to touch beside the bookcase corner. I have reached the floor lamp. I mark reaching it and now turn toward the dining table in the room to my right.", + "Standing this close to the lamp, my view is filled by its shade and the blank partition wall, so nothing of the dining area is visible ahead. The table and chairs sit off to my right past that partition, so I will turn right to swing my heading toward them.", + "The round dining table with its chairs and hanging lamp has come into view, but only at the far right edge, with the partition column still blocking most of my forward path. Another turn right should bring the table nearer the center of my view for a clean approach.", + "The dining table under the pendant light now sits ahead of me with open floor between us, and the partition edge is clear of my path on the left. I will walk forward to close the remaining distance to the table.", + "The kitchen and the round table with its four chairs are fully open in front of me now, but the table is still several paces away across the floor. I will keep walking straight ahead to reach it.", + "The tabletop and candlestick now fill much of my view, with the nearest chair just short of arm's reach. One more step forward should bring me right up against the dining table.", + "The dining table edge and its candlestick are directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..46037064f62705114667971ea74bde4488ff436a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000664_y001614_z000169_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the plate at the floor lamp, then leave it near the dining table.", + "Type": 5, + "Start_Pose": [ + 664.082, + 1614.241, + 169.15, + -0.05, + 36.558, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 983.382, + 1891.772, + 118.17, + 90, + 30, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 664.082, + 1614.241, + 169.15, + -0.05, + 36.558, + 0 + ], + [ + 664.082, + 1614.241, + 169.15, + -0.05, + 61.558, + -0.0 + ], + [ + 705.957, + 1723.765, + 168.492, + -0.05, + 61.558, + -0.0 + ], + [ + 720.978, + 1831.465, + 168.238, + -0.05, + 61.558, + -0.0 + ], + [ + 720.978, + 1831.465, + 168.238, + -0.05, + 36.558, + -0.0 + ], + [ + 720.978, + 1831.465, + 168.238, + -0.05, + 11.558, + 0.0 + ], + [ + 844.285, + 1856.682, + 168.238, + -0.05, + 11.558, + 0.0 + ], + [ + 844.285, + 1856.682, + 168.238, + 0.0, + 11.558, + -0.0 + ], + [ + 967.592, + 1881.899, + 168.238, + 0.0, + 11.558, + -0.0 + ], + [ + 967.592, + 1881.899, + 168.238, + 0.0, + 36.558, + -0.0 + ], + [ + 1068.688, + 1956.866, + 168.238, + 0.0, + 36.558, + -0.0 + ], + [ + 1169.785, + 2031.832, + 168.238, + 0.0, + 36.558, + -0.0 + ], + [ + 1111.951, + 1988.946, + 168.238, + 0.0, + 36.558, + -0.0 + ], + [ + 1111.951, + 1988.946, + 168.238, + 0.0, + 36.558, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 983.382, + 1891.772, + 118.17, + 90.0, + 30.0, + 0.0 + ], + [ + 839.409, + 1877.48, + 138.256, + -28.202, + 61.703, + 1.862 + ], + [ + 962.967, + 1902.755, + 137.769, + -28.195, + 61.706, + 1.862 + ], + [ + 953.568, + 1899.474, + 138.84, + -28.193, + 86.707, + 1.872 + ], + [ + 1055.188, + 1973.438, + 138.838, + -28.198, + 86.708, + 1.868 + ], + [ + 1156.484, + 2048.557, + 138.475, + -28.196, + 86.705, + 1.865 + ], + [ + 1168.179, + 2030.641, + 138.238, + 90.0, + 36.558, + 0.0 + ], + [ + 1168.179, + 2030.641, + 138.238, + 90.0, + 36.558, + 0.0 + ] + ], + "PD_Dist_2D": [ + 423.1, + 423.1, + 324.3, + 269.2, + 269.2, + 269.2, + 143.5, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The couch and the bookshelf wall block any straight path from where I stand, and the plate I need near the floor lamp is not yet in sight. Turning right should put me on the open wooden floor beside the staircase, which is the only clear lane into the rest of the room.", + "Ahead of me the floor runs clear past the end of the sofa toward the staircase and the bright dining area beyond. I will walk forward along this open lane to close distance and bring more of the room, including the lamp corner, into view.", + "A large white plate now shows at the lower left of my view, standing on the floor at the far side of the room. The floor between me and the staircase base is still clear, so I keep walking forward to shorten the gap before turning toward it.", + "My heading is now aimed at the staircase and its blank wall, while the plate has slipped to the very left edge of my view. I will turn left to swing my facing back onto the target so it sits within a controllable part of the view.", + "The plate is visible now but still sits left of center, so my facing is not yet aimed at it. A second turn left should center the plate ahead of me so a straight walk carries me directly to it.", + "The plate now sits roughly ahead of me on the floor near the lamp, with clear boards the whole way. It is still too far to reach, so I walk forward to close the remaining distance for a grasp.", + "The plate now fills the lower center of my view, close enough that it is directly at my feet rather than across the room. This is the grasp position the task requires, so I will attempt to pick it up before carrying it toward the dining area.", + "The grasp worked, my hands are on the plate and it is no longer resting on the floorboards. The dining table and kitchen lie straight ahead on my current heading, so I step forward to begin carrying the plate there.", + "I am carrying the plate and the dining table with its chairs sits off to the right of my heading, partly hidden behind the wall edge on my left. I will turn right to bring that table area to the center of my path so I can walk straight toward it.", + "The round dining table and its chairs are now centered ahead in the kitchen area, with clear open floor between me and them. Still holding the plate, I will step forward to close that distance toward the drop area.", + "The table and chairs have grown much larger ahead, but I am still a couple of paces short of the near chair. I will advance once more so the plate can be released right beside the dining table.", + "I am now standing right at the edge of the dining table, with its chairs and candlestick directly in front of me. This is close enough to satisfy leaving the plate near the table, so I will release it here and expect it to come to rest beside the table.", + "The plate is out of my hands and resting at the dining table right in front of me. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000668_y001580_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000668_y001580_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d114d3ffb353e362a56dbc4245145c2d766ab15 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000668_y001580_z000169_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the door first, then go to the bottom of the stairs.", + "Type": 3, + "Start_Pose": [ + 667.986, + 1580.327, + 169.15, + -0.05, + 96.078, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 667.986, + 1580.327, + 169.15, + -0.05, + 96.078, + -0.0 + ], + [ + 672.275, + 1696.724, + 169.15, + -0.05, + 96.078, + -0.0 + ], + [ + 672.275, + 1696.724, + 169.15, + -0.05, + 121.078, + -0.0 + ], + [ + 626.164, + 1803.647, + 168.365, + -0.05, + 121.078, + -0.0 + ], + [ + 626.164, + 1803.647, + 168.365, + -0.05, + 146.078, + 0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 146.078, + 0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 146.078, + 0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 121.078, + -0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 96.078, + -0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 71.078, + -0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 46.078, + -0.0 + ], + [ + 521.727, + 1873.884, + 168.365, + -0.05, + 21.078, + 0.0 + ], + [ + 639.165, + 1919.148, + 168.365, + -0.05, + 21.078, + 0.0 + ], + [ + 756.603, + 1964.412, + 168.365, + -0.05, + 21.078, + 0.0 + ], + [ + 872.845, + 1988.38, + 168.15, + -0.05, + 21.078, + 0.0 + ], + [ + 987.897, + 1988.397, + 168.15, + -0.05, + 21.078, + 0.0 + ], + [ + 987.897, + 1988.397, + 168.15, + -0.05, + 46.078, + 0.0 + ], + [ + 987.897, + 1988.397, + 168.15, + -0.05, + 71.078, + 0.0 + ], + [ + 987.897, + 1988.397, + 168.15, + -0.05, + 71.078, + 0.0 + ] + ], + "Rationale": [ + "From here the white panelled door sits across the room on the right-hand wall, with the staircase rising away to my left. Open floor lies between me and that door, so I will walk forward to cut down the distance before turning toward it.", + "My advance has pushed the door out to the extreme right edge of my view, leaving me facing mostly blank wall and the underside of the stairs. A turn to the right should swing the doorway back in front of me so I can keep closing on it.", + "The panelled door with its brass handle now sits well within my view, set in the wall ahead and slightly to my right. The floor between us is clear, so I will step forward to close on it.", + "I am close enough that the door has drifted to the right side of my view while blank wall fills the centre. Turning right should square me up with the door so my next steps carry me straight to it.", + "The door is now framed almost centrally, its handle and the light switch beside it clearly visible only a short walk away. I will step forward to bring myself right up to it.", + "The panelled door fills my view, its brass lever and deadbolt within arm's reach and the light switch beside my shoulder. I am standing at the door. I mark reaching it, then set off for the foot of the staircase.", + "Pressed up against the door there is nothing more for me here, and the staircase lies back the other way, off to my left. I will turn left to begin swinging my heading away from this door and back toward the open room.", + "One turn has only brought the door jamb and the corner wall into view, so I am still facing into this recess rather than the room. I will keep turning left to carry my heading further round toward the staircase.", + "The white door I came for is behind me now and only blank wall and a corner fill my view, so this heading gives me nothing. I will keep pivoting left to swing my view back toward the open room where the staircase stands.", + "The banister and a few treads have just edged into the top left of my view, confirming the staircase lies further round to my left. I will turn left again to bring the stair run and the floor beneath it properly in front of me.", + "The staircase now runs diagonally across the right of my view with the open floor and kitchen beyond it, so its lowest steps must lie further to my left and ahead. One more left turn should put that clear stretch of floor straight in front of me for the walk.", + "I am now facing down the open room with the staircase climbing away on my right and unobstructed floor stretching ahead. Walking forward should carry me along the stair wall toward the lower end of the flight.", + "The staircase on my right has grown larger and its steps are dropping lower toward the floor ahead of me, so the base is still further on. I will keep walking straight since the path along the wall stays clear.", + "The bottom treads and the newel of the flight are now close on my right, but I am not yet level with the foot of the stairs. Another step forward should bring me alongside that lowest step.", + "The stair posts and rail are right beside me on the right, so I am nearly abreast of the foot of the flight. One more step forward should place me at the open floor by the bottom step rather than still behind the balustrade.", + "My walk has brought me level with the foot of the flight, but the stairs have slipped out of view behind my right shoulder while the kitchen fills my sight. Turning right should swing the bottom steps and their rail back in front of me.", + "The carved newel post has come into the right edge of my view, so the foot of the staircase lies just off my heading to that side. I will turn right again to bring the bottom steps and railing squarely in front of me.", + "The bottom steps, newel post, and rising handrail stand directly before me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000689_y001922_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000689_y001922_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b361f488979361862a93af5edfdd4365958ff07a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000689_y001922_z000468_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled door to the left of the upstairs railing.", + "Type": 4, + "Start_Pose": [ + 689.126, + 1922.016, + 468.15, + 0.0, + 20.957, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 689.126, + 1922.016, + 468.15, + 0.0, + 20.957, + -0.0 + ], + [ + 805.375, + 1939.815, + 468.15, + 0.0, + 20.957, + -0.0 + ], + [ + 805.375, + 1939.815, + 468.15, + 0.0, + -4.043, + 0.0 + ], + [ + 930.921, + 1930.941, + 468.15, + 0.0, + -4.043, + 0.0 + ], + [ + 1056.466, + 1922.067, + 468.15, + 0.0, + -4.043, + 0.0 + ], + [ + 1056.466, + 1922.067, + 468.15, + 0.0, + -29.043, + 0.0 + ], + [ + 1102.992, + 1857.576, + 468.15, + 0.0, + -29.043, + 0.0 + ], + [ + 1102.992, + 1857.576, + 468.15, + 0.0, + -29.043, + 0.0 + ], + [ + 1102.992, + 1857.576, + 468.15, + 0.0, + -29.043, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits on the wall to the left of the upstairs railing, well ahead of me across the landing. I will move forward along the open floor beside the railing to close that distance before working on my heading.", + "From here the target door is off to my left edge while my heading still points down the railing. I will turn left to bring the door into the center of my view before advancing further.", + "The paneled door is now centered ahead of me with clear floor between us. I will move forward to shorten the gap toward its handle.", + "The door now fills much of my view but I am still not close enough for its lever handle to be within reach. I will advance again to bring myself right up to the door face.", + "At this range the door has drifted to the left half of my view, with the plain wall and switch taking up the right. I will turn left to square my heading with the door leaf so the handle is directly in front of me.", + "The door leaf and its brass lever now sit squarely in front of me, but there is still a small gap to the surface. I will edge forward so I am close enough to operate the handle.", + "I am pressed right up against the white paneled door with only its panel molding filling my view, so I am within reach of the latch. I will attempt to open it, which should swing the leaf clear of the doorway.", + "The white paneled door now stands swung open, revealing the bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000704_y-002189_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000704_y-002189_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a175ebb04d3624ba5f37a90c5ebf0c2fa462b2b3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000704_y-002189_z000169_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the sofa.", + "Type": 0, + "Start_Pose": [ + 703.594, + -2189.265, + 168.943, + -0.301, + 176.156, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 703.594, + -2189.265, + 168.943, + -0.301, + 176.156, + 0.0 + ], + [ + 578.02, + -2180.827, + 168.943, + -0.301, + 176.156, + 0.0 + ], + [ + 578.02, + -2180.827, + 168.943, + -0.301, + 151.156, + -0.0 + ], + [ + 467.777, + -2120.111, + 168.15, + -0.301, + 151.156, + -0.0 + ], + [ + 357.534, + -2059.394, + 168.15, + -0.301, + 151.156, + -0.0 + ], + [ + 247.291, + -1998.677, + 168.15, + -0.301, + 151.156, + -0.0 + ], + [ + 247.291, + -1998.677, + 168.15, + -0.301, + 151.156, + -0.0 + ] + ], + "Rationale": [ + "From this hallway I can already see a cream sofa sitting in the open living area ahead, near the kitchen. The corridor in front of me is clear, so I will move forward to leave the hall and close distance on that sofa.", + "Now that I am out of the narrow passage, the sofa appears to the left of my heading, with the kitchen counters straight ahead. I will turn left to bring the sofa closer to the center of my view before continuing forward.", + "The sofa is now centered in my view with the small round table beside it, and the floor between us is unobstructed. I will move forward to shorten the remaining distance to the sofa.", + "The sofa has grown noticeably larger ahead of me, but I am still a few steps short of standing beside it. I will continue forward along this heading to keep closing that gap.", + "The sofa now fills much of the lower right of my view, yet there is still open floor between it and me. One more forward step should place me right at the sofa.", + "The sofa is directly in front of me, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000706_y001580_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000706_y001580_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67d0aaebc77306b26af3d0e478a915392ae7ac59 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000706_y001580_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door to the left of the television.", + "Type": 4, + "Start_Pose": [ + 705.87, + 1580.435, + 168.403, + 0.0, + 140.606, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 705.87, + 1580.435, + 168.403, + 0.0, + 140.606, + 0.0 + ], + [ + 705.87, + 1580.435, + 168.403, + 0.0, + 115.606, + -0.0 + ], + [ + 672.318, + 1691.159, + 169.15, + 0.0, + 115.606, + -0.0 + ], + [ + 672.318, + 1691.159, + 169.15, + 0.0, + 140.606, + -0.0 + ], + [ + 625.72, + 1771.005, + 169.15, + 0.0, + 140.606, + -0.0 + ], + [ + 528.456, + 1850.882, + 168.15, + 0.0, + 140.606, + -0.0 + ], + [ + 528.456, + 1850.882, + 168.15, + 0.0, + 165.606, + -0.0 + ], + [ + 454.456, + 1891.78, + 168.15, + 0.0, + 165.606, + -0.0 + ], + [ + 454.456, + 1891.78, + 168.15, + 0.0, + 165.606, + -0.0 + ], + [ + 454.456, + 1891.78, + 168.15, + 0.0, + 165.606, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits in the wall to the left of the television, but my body is currently pointed at the media cabinet with a round table just ahead of me. I will turn left to face the open stretch of floor on that side of the room so I have a clear straight path toward the door.", + "From this heading the floor ahead is empty, with the staircase off to the left and the target door standing further along the wall on my right side. I will move forward across this clear space to cut down the distance to the door before adjusting my heading.", + "After closing distance, the paneled door has drifted well over to the right edge of my view while blank wall and the staircase fill the center. I will turn right to bring the door and its frame back toward the middle of my view so my next forward motion heads straight at it.", + "The white paneled door now sits near the center of my view with the television and cabinet off to my right, confirming this is the door named in the task. The floor between me and the doorway is clear, so I will move forward to shorten the gap.", + "The door and its trim now dominate my forward view and the brass handle is clearly visible, but I am still too far back to reach it. I will move forward again to bring myself up close to the door face.", + "Standing this close, the door fills my view but the lever handle sits off to the right along with the light switch on the adjacent wall. I will turn right so the handle side of the door moves toward the center of my view for a cleaner interaction line.", + "The lever handle and deadbolt are now near the middle of my view, so my heading onto the door is good, but the handle still looks slightly out of arm's reach. I will step forward once more to close that last gap before trying the handle.", + "I am right at the white paneled door with the brass lever and deadbolt filling my view at close range, so the handle should be within reach. The door still reads as closed, so I will attempt to open it now.", + "The white paneled door now stands open, revealing the room beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000727_y-001669_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000727_y-001669_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d87541e392605064608018ed4f3c75be7c761d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000727_y-001669_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door directly ahead, to the left of the louvered wardrobe.", + "Type": 4, + "Start_Pose": [ + 727.004, + -1668.87, + 168.15, + 0.0, + -76.142, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 727.004, + -1668.87, + 168.15, + 0.0, + -76.142, + 0.0 + ], + [ + 757.149, + -1791.066, + 168.15, + 0.0, + -76.142, + 0.0 + ], + [ + 757.149, + -1791.066, + 168.15, + 0.0, + -101.142, + 0.0 + ], + [ + 732.828, + -1914.552, + 168.15, + 0.0, + -101.142, + 0.0 + ], + [ + 712.522, + -1948.385, + 168.15, + 0.0, + -101.142, + 0.0 + ], + [ + 712.522, + -1948.385, + 168.15, + 0.0, + -101.142, + 0.0 + ], + [ + 712.522, + -1948.385, + 168.15, + 0.0, + -101.142, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits ahead of me on the far wall, just left of the louvered wardrobe doors, so the target is already identified. I will move forward across the carpet to close the large gap between me and that door before worrying about fine alignment.", + "After closing distance, the paneled door has drifted to the left portion of my view while the louvered wardrobe now fills the right side. A small left turn should bring the door and its handle back toward the center of my heading so I can walk straight at it.", + "The paneled door is now centered ahead of me with its brass lever clearly in view and the wardrobe pushed to the right edge. I will move forward along this heading to bring myself close enough to reach the handle.", + "The door panel and its lever now fill most of my view, but the handle still sits toward the right side rather than directly in front of me. One more short step forward should place me within comfortable reach of the lever for the opening attempt.", + "I am right at the door with the brass knob and lever handle large in front of me, so I am within interaction range. I will operate the handle now, which should release the latch and swing the paneled door open.", + "The doorway now stands open, revealing the hallway with a sconce, framed picture, and side table beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000737_y002131_z000388_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000737_y002131_z000388_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c76e0254846c1ebaaa2ab8faed8a32ddacad610 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000737_y002131_z000388_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Explore the house and move to the kitchen faucet.", + "Type": 1, + "Start_Pose": [ + 737.416, + 2131.179, + 388.277, + 0.0, + -123.515, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 737.416, + 2131.179, + 388.277, + 0.0, + -123.515, + 0.0 + ], + [ + 737.416, + 2131.179, + 388.277, + 0.0, + -98.515, + 0.0 + ], + [ + 737.416, + 2131.179, + 388.277, + 0.0, + -73.515, + 0.0 + ], + [ + 737.416, + 2131.179, + 388.277, + 0.0, + -48.515, + 0.0 + ], + [ + 737.416, + 2131.179, + 388.277, + 0.0, + -23.515, + 0.0 + ], + [ + 852.823, + 2081.128, + 306.168, + 0.0, + -23.515, + 0.0 + ], + [ + 965.314, + 2081.128, + 225.477, + 0.0, + -23.515, + 0.0 + ], + [ + 1079.832, + 2058.031, + 168.15, + 0.0, + -23.515, + 0.0 + ], + [ + 1195.239, + 2007.815, + 168.15, + 0.0, + -23.515, + 0.0 + ], + [ + 1310.646, + 1957.598, + 168.15, + 0.0, + -23.515, + 0.0 + ], + [ + 1310.646, + 1957.598, + 168.15, + 0.0, + -48.515, + 0.0 + ], + [ + 1394.018, + 1863.313, + 168.15, + 0.0, + -48.515, + 0.0 + ], + [ + 1419.725, + 1770.98, + 168.15, + 0.0, + -48.515, + 0.0 + ], + [ + 1419.725, + 1770.98, + 168.15, + 0.0, + -23.515, + 0.0 + ], + [ + 1419.725, + 1770.98, + 168.15, + 0.0, + -23.515, + 0.0 + ] + ], + "Rationale": [ + "I am standing on an upper landing behind a wooden stair railing, and the view ahead shows only a hallway wall, framed pictures, and a console table with no sign of a kitchen sink. I will turn right to begin a consistent scan of this level and look for a kitchen area or a route down toward it.", + "From this heading I can see a white interior door and part of a living area below with a television and sofa, but still no kitchen counter or faucet. I will keep turning right in the same direction to extend the scan across the rest of the open space.", + "This heading gives me another closed door, a side table, and bookshelves below, none of which is the kitchen faucet I need. I will continue the same rightward sweep, since the open lower floor keeps revealing new rooms as I rotate.", + "Below and to my right I can now make out white kitchen cabinetry, a refrigerator, and what looks like a counter sink area. I will turn right once more to bring that kitchen more fully in front of me before committing to move toward it.", + "The kitchen is now centered ahead of me, with cabinets, a refrigerator, a range, and a dining table clearly in view past the railing. I will walk forward along this heading to close the distance toward that kitchen counter area.", + "I am closer now and the kitchen counter with a faucet at the sink is visible to the left of the refrigerator, past a bookcase and support column. I will keep walking forward since the floor ahead is open and leads straight into the kitchen.", + "The kitchen is fully open in front of me with the counter, dishwasher, and sink faucet along the left run of cabinets. I will continue forward to get within a comfortable standing distance of that faucet.", + "I am now inside the kitchen and the sink with its faucet sits on the counter ahead and slightly left of the refrigerator. I will step forward again to reduce the remaining gap to that counter before fine tuning my heading.", + "I am inside the kitchen now, with the counter run, dishwasher and a faucet over the sink clearly visible ahead on my left. Since the target fixture is confirmed in view but still several paces off, I will keep walking straight to close the remaining distance.", + "The sink and its faucet now sit off to the left edge of my view while the refrigerator and cabinet doors dominate the center, so walking straight would carry me past the fixture. I will turn left to bring the faucet and the counter it stands on into the middle of my view before advancing again.", + "With the heading adjusted, the counter with the sink and faucet now lies ahead of me along the wall, with the side door and window beyond it. I will step forward to shorten the gap to that sink area.", + "The double sink and its tall faucet are close now, filling the right half of my view above the wooden countertop. I am still slightly short of a comfortable standing position at the basin, so I will take another step forward.", + "Standing at the counter, my view is drifting toward the window and the cabinets on the left, and the faucet has slipped to the far right edge beside the sink. I will turn right to face the faucet squarely over the basin.", + "The kitchen faucet stands directly in front of me above the sink basin, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000750_y-001948_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000750_y-001948_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba1cba1e489a291b3e182fdf28738b45e2fd7ae8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000750_y-001948_z000168_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Find the alarm clock and go to it.", + "Type": 1, + "Start_Pose": [ + 750.069, + -1948.157, + 168.149, + -0.301, + 56.277, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 750.069, + -1948.157, + 168.149, + -0.301, + 56.277, + 0.0 + ], + [ + 750.069, + -1948.157, + 168.149, + -0.301, + 81.277, + 0.0 + ], + [ + 750.069, + -1948.157, + 168.149, + -0.301, + 106.277, + 0.0 + ], + [ + 750.069, + -1948.157, + 168.149, + -0.301, + 131.277, + 0.0 + ], + [ + 750.069, + -1948.157, + 168.149, + -0.301, + 156.277, + 0.0 + ], + [ + 635.301, + -1898.155, + 195.648, + -0.301, + 156.277, + 0.0 + ], + [ + 520.079, + -1847.521, + 203.782, + -0.301, + 156.277, + 0.0 + ], + [ + 520.079, + -1847.521, + 203.782, + -0.301, + -178.723, + 0.0 + ], + [ + 520.079, + -1847.521, + 203.782, + -0.301, + -178.723, + 0.0 + ], + [ + 520.079, + -1847.521, + 203.782, + -0.301, + -178.723, + 0.0 + ] + ], + "Rationale": [ + "I am facing a dresser, a tall wardrobe and a curtained window, with no alarm clock anywhere in sight. Since a clock in a bedroom most likely sits on a nightstand, I will turn right to begin a consistent scan toward the unseen part of the room.", + "The wardrobe and window now sit ahead of me, but still no nightstand or clock is visible. I will keep turning right in the same direction to bring more of the room into view.", + "A bed edge and a nightstand with a lit lamp have appeared at the right side, which is a strong cue that a clock could be resting on that surface. I will continue turning right to bring the bed and its nightstands fully into view.", + "The bed and its left nightstand are now centered, and I can see a small dark object with a red glow on the further nightstand at the right. I will turn right once more to place that likely alarm clock in front of me.", + "The bed is squarely ahead, and on the nightstand to the right I can make out a small black unit with a red digital display that looks like the alarm clock. It is still several steps away, so I will walk forward to close the distance.", + "The alarm clock with its red digits is clearly visible on the nightstand to my right, but I am not yet beside it. I will step forward again to get close enough to count as reaching it.", + "I am now close to the headboard wall, and my heading has risen onto the shelf and wallpaper so the nightstand has slipped out of view to my right. I will turn right to bring the clock's nightstand back in front of me.", + "My heading is now toward the nightstand side, but the view is filled with the upper shelf and wallpaper well above the clock's height. I will look down to bring the nightstand surface and the alarm clock into view for confirmation.", + "The digital alarm clock sits directly in front of me on the nightstand, close and clearly readable. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000768_y001666_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000768_y001666_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db4abaf148d41276f685b8023fe48af900933193 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000768_y001666_z000468_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Turn away from the vanity, locate the white bathroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 768.306, + 1665.834, + 468.15, + 0.0, + -48.833, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 768.306, + 1665.834, + 468.15, + 0.0, + -48.833, + 0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + -73.833, + 0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + -98.833, + 0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + -123.833, + 0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + -148.833, + 0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + -173.833, + 0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + 161.167, + -0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + 136.167, + -0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + 111.167, + -0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + 86.167, + -0.0 + ], + [ + 768.306, + 1665.834, + 468.15, + 0.0, + 61.167, + -0.0 + ], + [ + 831.761, + 1753.023, + 468.15, + 0.0, + 61.167, + -0.0 + ], + [ + 831.761, + 1753.023, + 468.15, + 0.0, + 61.167, + -0.0 + ], + [ + 831.761, + 1753.023, + 468.15, + 0.0, + 61.167, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the vanity with its mirror and light fixture, and no door is anywhere in my view. Since the task tells me to turn away from the vanity and find the white bathroom door, I will begin rotating left to sweep the room. This first turn should bring a new stretch of wall into view.", + "The vanity has slid to the right edge and a bright window with a plant now dominates my view, so I still have no door in sight. I will keep rotating left to continue the sweep past the window wall. More of the room should come into view with this turn.", + "Now I see the window straight ahead with a toilet tank and a small framed picture on the left wall, and nothing that looks like the white door. Continuing left is the most direct way to reach the walls I have not inspected yet. I will turn again.", + "The tiled tub and shower alcove have come into view on the left while the window stays at my right, and there is still no door panel visible. I will keep turning left to swing my heading further around the room. The wall beyond the tub is the next unchecked area.", + "I am now looking almost straight into the tub with its curtain and tiled surround, which is clearly not the target. The door must lie somewhere on a wall further to my left, so I will continue the rotation. Another left turn should reveal the remaining wall.", + "I see a washer and part of a shelving unit entering from the left with the curtained tub still at my right, and no white door is in front of me yet. I will keep turning left to bring that far corner of the room into my view. The unchecked wall should appear next.", + "The wire shelving unit and a wide framed picture are centered in front of me on a plain painted wall, so this section holds no door. I will continue rotating left toward the part of the room I still have not seen. The door should come into view as I keep sweeping.", + "The shelving and hamper have shifted to my right and a mostly blank wall fills my view, with the corner of the room appearing at the left. Turning left again should carry my heading onto that remaining wall segment where the white door likely sits. I will continue the sweep.", + "I am facing a blank wall with a framed print and the wire shelving unit, none of which is the white door I need. A pale vertical edge like a door frame is just entering the far left of my view, so I will keep rotating left to bring that surface fully into sight.", + "The white paneled door with its brass lever is now visible, but it sits on the left half of my view while plain wall fills the right. One more left rotation should center the door and its handle ahead of me for a straight approach.", + "The white door is now squarely ahead of me with its brass lever and deadbolt clearly in view, and the floor between us is clear. I will move forward to close the remaining gap so the handle comes within reach.", + "The white door panel now fills my view at arm's length, so I am standing directly at its face. I will operate the door here, which should swing it open and satisfy the task.", + "The white door now stands swung inward, revealing the landing and stair railing beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000809_y002131_z000336_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000809_y002131_z000336_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ae97a11429cd84dbf78ed89e6ed8a85795689817 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000809_y002131_z000336_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move over to the beige curtain on the right side of the living room.", + "Type": 2, + "Start_Pose": [ + 809.173, + 2131.156, + 336.074, + 0.0, + -66.36, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 809.173, + 2131.156, + 336.074, + 0.0, + -66.36, + 0.0 + ], + [ + 809.173, + 2131.156, + 336.074, + 0.0, + -41.36, + 0.0 + ], + [ + 809.173, + 2131.156, + 336.074, + 0.0, + -16.36, + 0.0 + ], + [ + 929.936, + 2095.705, + 248.939, + 0.0, + -16.36, + 0.0 + ], + [ + 1050.118, + 2075.556, + 168.15, + 0.0, + -16.36, + 0.0 + ], + [ + 1050.118, + 2075.556, + 168.15, + 0.0, + -41.36, + 0.0 + ], + [ + 1050.118, + 2075.556, + 168.15, + 0.0, + -66.36, + 0.0 + ], + [ + 1050.118, + 2075.556, + 168.15, + 0.0, + -91.36, + 0.0 + ], + [ + 1059.345, + 1955.827, + 168.15, + 0.0, + -91.36, + 0.0 + ], + [ + 1032.188, + 1850.902, + 168.15, + 0.0, + -91.36, + 0.0 + ], + [ + 1032.188, + 1850.902, + 168.15, + 0.0, + -116.36, + 0.0 + ], + [ + 976.305, + 1738.13, + 168.15, + 0.0, + -116.36, + 0.0 + ], + [ + 920.423, + 1625.357, + 168.15, + 0.0, + -116.36, + 0.0 + ], + [ + 920.423, + 1625.357, + 168.15, + 0.0, + -116.36, + 0.0 + ] + ], + "Rationale": [ + "From up here the living room opens below me, and the beige curtained window on its right side stands past the bookcase with the floor lamp beside it. The stair railing directly ahead of me blocks any straight approach, so I turn right toward the open floor that leads around it.", + "My heading now falls on the kitchen counters and the open floor, but the balustrade still cuts across the near part of my view. A second turn to the right should aim me squarely down the unobstructed stretch of floor I can use to reach the curtained window.", + "The way ahead is now clear floor running past the kitchen, with no railing cutting across my path. I walk forward to get well clear of the stairs before swinging back toward the curtained window on the far side.", + "I have come down level with the kitchen and dining table, and the floor ahead of me is still open. Another step forward should put me past the dividing column so that turning back left opens onto the room holding my curtained window.", + "I am now out in the open living area with the kitchen filling my view, and the curtained window I want lies off to my left, behind me from this heading. I turn left to begin bringing that side of the room back into view.", + "The swing has brought the doorway and the left edge of the kitchen into view, but the seating area with my target curtain is still further round to my left. I keep turning left to pull that wall toward the middle of my view.", + "The beige curtain and the floor lamp beside it have appeared at the far left margin of my view, mostly hidden by the column. One more turn left should center that curtained window so I can walk straight at it.", + "The curtained window with the sofa and floor lamp beside it now sits ahead and slightly left, with clear floor between us. I walk forward to close that distance and reach the curtain.", + "The curtained window sits ahead on my left, but the column and the cabinet with the floor lamp still crowd the right half of my view. I keep walking forward along the open floor to draw level with that window wall.", + "I have come past the bookcase, and the beige curtain now hangs off to my left while the shelves and lamp fill the right of my view. Turning left should put the curtained window straight in front of me for the last approach.", + "The curtain and its window are now centered ahead with only bare floor between me and the sofa beside it. I step forward to close the remaining gap to that curtain.", + "The beige curtain panels now fill much of my view, though I am still a stride or two short of the window wall. One more step forward should bring me right up beside the curtain.", + "The beige curtain hangs directly before me, filling my view at arm's length. I have arrived at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000818_y000972_z000128_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000818_y000972_z000128_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..625d4556acc93f067c008e16bade28c6afbfcdbd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000818_y000972_z000128_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Go to the porch with the American flag and open the white front door.", + "Type": 4, + "Start_Pose": [ + 818.202, + 972.423, + 128.442, + -0.01, + 39.062, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 818.202, + 972.423, + 128.442, + -0.01, + 39.062, + 0.0 + ], + [ + 915.927, + 1051.734, + 133.682, + -0.01, + 39.062, + -0.0 + ], + [ + 1013.652, + 1131.046, + 138.921, + -0.01, + 39.062, + -0.0 + ], + [ + 1111.377, + 1210.357, + 144.161, + -0.01, + 39.062, + -0.0 + ], + [ + 1206.046, + 1250.66, + 146.659, + -0.01, + 39.062, + -0.0 + ], + [ + 1304.281, + 1329.069, + 159.563, + -0.01, + 39.062, + -0.0 + ], + [ + 1304.281, + 1329.069, + 159.563, + -0.01, + 64.062, + 0.0 + ], + [ + 1304.281, + 1329.069, + 159.563, + -0.01, + 89.062, + 0.0 + ], + [ + 1306.34, + 1453.025, + 165.15, + -0.01, + 89.062, + 0.0 + ], + [ + 1306.34, + 1453.025, + 165.15, + -0.01, + 89.062, + 0.0 + ], + [ + 1306.34, + 1453.025, + 165.15, + -0.01, + 89.062, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The porch ahead of me carries the American flag on its post, and the white front door sits under that roof beyond the flower boxes. I will move forward across the lawn toward the walkway to close the large gap to that porch.", + "The flagged porch and its white door are noticeably larger now, with the paved walkway and wooden steps ahead to my left. Continuing straight should keep shrinking the distance to that entry.", + "I am close to the porch edge, with the white paneled door and its sidelight window clearly visible past the support post. Another step forward should bring me alongside the steps and onto the decking.", + "The wooden decking now fills the lower part of my view and the white door with its brass handle is just to the right of the post. I will keep advancing so the door comes within reach.", + "I am on the porch deck with the tall white door panel filling the right side of my view. Moving forward once more should place me squarely in front of the entry rather than off to its side.", + "The white front door is off to my right, only its edge showing while my heading still points along the porch toward the yard and railing. I will turn right to bring the door face into the center of my view.", + "The white paneled door with its brass knob and handle is now mostly in view but still sitting right of center. A further turn right should square me to the door before I try the handle.", + "I am now squarely facing the white front door with its handle and deadbolt centered ahead of me. I will step forward to close the last bit of distance so the latch is within interaction range.", + "I am right up against the white front door's hardware, with the brass deadbolt and handle filling my view and the door edge and jamb just to the right. This is close enough to reach the latch, so I will try opening the door now; it should swing inward if it is unlocked.", + "The white front door now stands open with the interior room visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000824_y001865_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000824_y001865_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f49d73dfe5c8cff96b11a6c1bfaf1462d77d6ad --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000824_y001865_z000468_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled door on the left side of the upstairs landing.", + "Type": 4, + "Start_Pose": [ + 823.745, + 1865.226, + 468.15, + 0.0, + 7.235, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 823.745, + 1865.226, + 468.15, + 0.0, + 7.235, + 0.0 + ], + [ + 948.602, + 1881.077, + 468.15, + 0.0, + 7.235, + -0.0 + ], + [ + 1073.459, + 1896.927, + 468.15, + 0.0, + 7.235, + -0.0 + ], + [ + 1073.459, + 1896.927, + 468.15, + 0.0, + 7.235, + -0.0 + ], + [ + 1073.459, + 1896.927, + 468.15, + 0.0, + -17.765, + 0.0 + ], + [ + 1073.459, + 1896.927, + 468.15, + 0.0, + -17.765, + 0.0 + ], + [ + 1103.013, + 1856.739, + 468.15, + 0.0, + -17.765, + 0.0 + ], + [ + 1103.013, + 1856.739, + 468.15, + 0.0, + -17.765, + 0.0 + ], + [ + 1103.013, + 1856.739, + 468.15, + 0.0, + -17.765, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door on the left side of this landing is directly ahead across the open floor, with the stair railing to my right. I am still several steps away, too far to reach its handle, so I will move forward along the clear floor toward it.", + "The paneled door now fills most of my view and its brass lever is clearly visible on its right edge, but I am still a stride short of contact distance. I will move forward again to close the remaining gap before reaching for the handle.", + "I am now right up against the door, with its brass lever and the frame edge filling my view at close range. This is within reach of the latch, so I will try to open the door from here.", + "My attempt to open the door left it closed, and I can see why my placement is poor: a large part of my view is the frame edge and the wall with the light switch, so I am aimed at the jamb rather than squarely at the door leaf. I will turn left to bring the door face and its lever into the center of my view.", + "Now the paneled door leaf fills my view with the brass lever and deadbolt centered ahead of me, a much better alignment than when my earlier attempt failed to move the door. I will try the latch again from this squarer facing.", + "The white paneled door fills my view with its handle centered, yet my last attempt to open it left the door unchanged, so I am likely still slightly too far from the latch. I will step forward to close that small gap and put the handle within reliable reach before trying again.", + "I am now pressed close to the paneled door surface, with the panel moulding directly in front of me, so I should be within contact range of the latch. Since my earlier attempts from farther back did not move the door, I will try opening it again from this closer position.", + "The white paneled door now stands swung open, revealing the bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000837_y-002132_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000837_y-002132_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea888132156d697c2a2cc0eb1e9314794d75bbd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000837_y-002132_z000169_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Explore the rooms and go to the kitchen faucet.", + "Type": 1, + "Start_Pose": [ + 836.617, + -2131.849, + 168.915, + 0.0, + -40.228, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 836.617, + -2131.849, + 168.915, + 0.0, + -40.228, + 0.0 + ], + [ + 836.617, + -2131.849, + 168.915, + 0.0, + -65.228, + 0.0 + ], + [ + 836.617, + -2131.849, + 168.915, + 0.0, + -90.228, + 0.0 + ], + [ + 836.617, + -2131.849, + 168.915, + 0.0, + -115.228, + 0.0 + ], + [ + 836.617, + -2131.849, + 168.915, + 0.0, + -140.228, + 0.0 + ], + [ + 836.617, + -2131.849, + 168.915, + 0.0, + -165.228, + 0.0 + ], + [ + 714.918, + -2163.94, + 168.915, + 0.0, + -165.228, + 0.0 + ], + [ + 593.253, + -2195.343, + 168.915, + 0.0, + -165.228, + 0.0 + ], + [ + 593.253, + -2195.343, + 168.915, + 0.0, + 169.772, + -0.0 + ], + [ + 469.394, + -2172.995, + 168.15, + 0.0, + 169.772, + -0.0 + ], + [ + 469.394, + -2172.995, + 168.15, + 0.0, + 144.772, + -0.0 + ], + [ + 366.585, + -2100.396, + 168.15, + 0.0, + 144.772, + -0.0 + ], + [ + 263.775, + -2027.796, + 168.15, + 0.0, + 144.772, + -0.0 + ], + [ + 263.775, + -2027.796, + 168.15, + 0.0, + 119.772, + -0.0 + ], + [ + 224.096, + -1919.596, + 168.15, + 0.0, + 119.772, + -0.0 + ], + [ + 224.096, + -1919.596, + 168.15, + 0.0, + 144.772, + -0.0 + ], + [ + 135.527, + -1842.644, + 168.15, + 0.0, + 144.772, + -0.0 + ], + [ + 32.998, + -1778.704, + 169.118, + 0.0, + 144.772, + -0.0 + ], + [ + -68.745, + -1728.705, + 169.118, + 0.0, + 144.772, + -0.0 + ], + [ + -68.745, + -1728.705, + 169.118, + 0.0, + 169.772, + -0.0 + ], + [ + -120.313, + -1709.158, + 168.15, + 0.0, + 169.772, + -0.0 + ], + [ + -120.313, + -1709.158, + 168.15, + 0.0, + 169.772, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a narrow hallway facing a blank wall with a sconce and a framed picture, and the only other feature is a closed white door off to the right, so nothing kitchen related is visible from here. I will turn left to begin a consistent scan of this corridor for an opening toward the kitchen.", + "Rotating left has only brought a console table with candles and a vase into view against more hallway wall, still with no kitchen counter or faucet. I will keep turning left in the same direction to continue sweeping this hallway for a passable opening.", + "Now I am facing the console table almost head on with a solid wall and a landscape painting behind it, which is a dead end for travel. Continuing the same leftward rotation should swing my view past this wall toward the rest of the corridor.", + "The sweep has opened up a lighter area at the far left edge, where a low cabinet and pale flooring suggest the hallway continues in that direction. I will turn left again to bring that brighter opening into the center of my view.", + "Down the corridor to my left I can now see an illuminated room with a chandelier, upper cabinets and a refrigerator, which is a strong cue for the kitchen area. One more left turn should square me with that hallway so I can walk straight toward it.", + "I am now aligned along the hallway, with the runner rug leading straight ahead and the kitchen cabinets, chandelier and refrigerator visible at the far end. The path is clear of obstacles, so I will walk forward to close distance on that kitchen area.", + "The kitchen counter, range hood and refrigerator have grown noticeably larger ahead of me, confirming I am moving toward the right room. I will step forward again along the open hallway floor to keep closing in on the counter area where a faucet should be.", + "I am close to the end of the hallway, and the kitchen with its counter, refrigerator and chandelier now lies to my left while a wall and dresser occupy the right side of my view. I will turn left to face that opening squarely before continuing toward the sink.", + "From the hallway mouth I can now see straight into a large open living area with a kitchen at the far end, white upper cabinets, a range hood, a refrigerator, and a counter under a window. That kitchen counter is the most likely place for the faucet, so I will walk forward across the open floor to close the distance and get a clearer look at the sink run.", + "Now inside the open room, the kitchen run with its counter and a faucet-like fixture under the window sits to my left, while bookshelves and a fireplace fill the right side of my view. I will turn left to put the kitchen counter nearer the center of my heading before continuing forward.", + "The kitchen counter, sink area and dining table by the window are now framed ahead of me with clear floor in between. I will step forward to shorten the distance to that counter where the faucet should be.", + "The kitchen is noticeably closer and I can make out the counter, the stove, and a slim tap shape near the window end of the sink. I will keep walking forward to bring that sink area within a few steps.", + "The sofa now sits directly in my forward line and its back would block a straight walk to the counter. I will turn left toward the open floor by the dining area so I can approach the sink side of the kitchen around the furniture.", + "With the sofa now off to my right, the floor ahead toward the dining table and the back door is clear, and the counter with its faucet runs along the right wall. I will walk forward through this gap to reach the level of the sink counter.", + "I am beside the dining table now, and the kitchen counter with the faucet arching over the sink is on my right, partly at the edge of my view. I will turn right so the sink and its faucet come into the center of my heading for a straight final approach.", + "The counter run with the sink and its faucet is now ahead and slightly right, with open floor and a rug between me and it. I will step forward to close in on the faucet.", + "I can now see the kitchen counter run ahead on my right, with a sink basin and a chrome faucet rising from it. That matches the target I am looking for, so I will keep walking forward to close the remaining distance instead of scanning further.", + "The sink and its faucet are noticeably larger and closer on my right now, so my approach is working. I am still a couple of steps short of the counter edge, so I will advance again to get within reach of the faucet.", + "I am now right beside the counter, but the faucet and basins sit off toward the right edge of my view with blank wall filling the left. I will turn right to bring the faucet into the center of my heading before stepping in.", + "The faucet now sits centered above the double basin directly in front of me. A short step forward should bring me right up to the counter at the faucet, close enough to count as reaching it.", + "The kitchen faucet stands directly in front of me at the sink, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000841_y-002170_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000841_y-002170_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66aaf1cf7fee722a8fe28bb2e1c7da8aee9cd8c6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000841_y-002170_z000169_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the dark paneled door immediately to your left.", + "Type": 4, + "Start_Pose": [ + 841.026, + -2169.929, + 168.943, + 0.0, + 64.119, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 841.026, + -2169.929, + 168.943, + 0.0, + 64.119, + -0.0 + ], + [ + 841.026, + -2169.929, + 168.943, + 0.0, + 39.119, + -0.0 + ], + [ + 938.672, + -2090.52, + 168.943, + 0.0, + 39.119, + -0.0 + ], + [ + 1033.212, + -2062.162, + 168.73, + 0.0, + 39.119, + -0.0 + ], + [ + 1128.494, + -2046.958, + 168.15, + 0.0, + 39.119, + -0.0 + ], + [ + 1128.494, + -2046.958, + 168.15, + 0.0, + 39.119, + -0.0 + ], + [ + 1128.494, + -2046.958, + 168.15, + 0.0, + 39.119, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "Most of my view is filled by a blank wall ahead, so I cannot yet see the dark paneled door the task refers to. I will turn left to sweep my heading toward the corner where the corridor and its doorways likely continue.", + "After turning, a darker paneled door now sits in the recessed wall ahead of me, distinct from the lighter entry door further left. I will move forward down this hallway to close the distance to that door.", + "The dark paneled door is larger in my view but still a couple of steps away, too far for me to reach its handle. I will keep moving forward along the hallway to bring the door within interaction range.", + "I am now close enough to see the door's brass handle and individual panels, but the frame edge suggests I am still slightly short of the leaf. I will take one more step forward so the door is squarely in front of me and within reach.", + "The paneled door leaf and its jamb now fill my view at arm's length, so I am directly in front of the target with nothing between me and it. I will trigger the opening action here, which should swing this door open.", + "I can see the paneled door swung inward with the garage space beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000871_y001909_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000871_y001909_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11f2259a66cb781be07b24b9d0dcc867aee6f3a3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000871_y001909_z000168_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First walk to the window, then walk to the standing lamp.", + "Type": 3, + "Start_Pose": [ + 871.045, + 1909.118, + 168.15, + -0.05, + -58.887, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 871.045, + 1909.118, + 168.15, + -0.05, + -58.887, + -0.0 + ], + [ + 871.045, + 1909.118, + 168.15, + -0.05, + -83.887, + 0.0 + ], + [ + 884.448, + 1783.975, + 168.15, + -0.05, + -83.887, + 0.0 + ], + [ + 897.85, + 1658.831, + 168.15, + -0.05, + -83.887, + 0.0 + ], + [ + 897.85, + 1658.831, + 168.15, + -0.05, + -108.887, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + -108.887, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + -108.887, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + -83.887, + 0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + -58.887, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + -33.887, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + -8.887, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + 16.113, + -0.0 + ], + [ + 870.876, + 1580.475, + 168.15, + -0.05, + 41.113, + -0.0 + ], + [ + 965.7, + 1663.233, + 168.15, + -0.05, + 41.113, + -0.0 + ], + [ + 993.948, + 1743.275, + 168.15, + -0.05, + 41.113, + -0.0 + ], + [ + 993.948, + 1743.275, + 168.15, + -0.05, + 16.113, + -0.0 + ], + [ + 993.948, + 1743.275, + 168.15, + -0.05, + 16.113, + -0.0 + ] + ], + "Rationale": [ + "The curtained window sits far off to my left edge while the bookcase and the tall lamp fill the view ahead. I will turn left to bring the window squarely in front of me before walking toward it.", + "The window with its two curtain panels now sits near the center of my view, with open floor between me and it. I will walk forward to close that distance.", + "The glass and the curtains have grown much larger, so my heading toward the window is good but I am still a couple of paces short of it. I will step forward again to draw right up to it.", + "A curtain panel and blank wall now dominate my view, with only a sliver of glass showing at the far left. I will turn left so the window itself is centered again before I finish approaching it.", + "The window frame and its view of the porch are centered ahead once more, and the sill is only a short step away. I will walk forward to stand right at the glass.", + "The window fills my view from sill to upper frame, the porch railing and lawn plainly visible through the panes just an arm's length away. I have reached the window. I mark reaching it, and now I set off for the standing lamp beside the bookcase.", + "I am pressed up against the window and the lamp lies well behind my right shoulder, back near the bookcase wall. I will turn right to begin swinging my heading away from the glass and toward that side of the room.", + "Turning has only brought hanging curtain fabric across my view, so the lamp is still well outside my heading. I will keep rotating right to sweep past the drapes toward the open room.", + "Heavy curtain folds still fill almost my whole view, so I cannot yet see into the room where the tall lamp stands. I will keep turning right to swing my heading off the glass and back toward the open interior.", + "The curtain is sliding to my left and a sliver of shelving with books has appeared at the right edge, so the room is opening up. Another right turn should bring that wall and the lamp beside it fully into view.", + "The bookcase and its cabinet now occupy the right side of my view while blank wall fills the left, so the lamp must lie further around to my right. I will continue rotating right to bring it into the centre of my view.", + "The lit shade of the standing lamp has come into view just past the right edge of the bookcase. One more right turn should place it and the clear floor beside it squarely ahead so I can walk straight at it.", + "The standing lamp is now ahead of me beside the bookcase, with clear floorboards running toward it. I will walk forward to close the gap.", + "The lamp has grown much larger and its shade sits just left of centre, so I am close but not yet beside it. I will step forward again to finish closing the remaining distance.", + "I have drawn level with the lamp and only the edge of its shade shows at the far left of my view, with the wall and doorway filling the rest. Turning left should bring the lamp back to face me directly.", + "The standing lamp fills my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001659_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001659_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..07b3b3a8568845d65b1884353309305369c10999 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001659_z000468_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Find the toilet in this area.", + "Type": 1, + "Start_Pose": [ + 876.401, + 1659.166, + 468.15, + -0.199, + -94.955, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 876.401, + 1659.166, + 468.15, + -0.199, + -94.955, + -0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + -69.955, + -0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + -44.955, + 0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + -19.955, + 0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 5.045, + 0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 30.045, + 0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 55.045, + 0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 80.045, + -0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 105.045, + -0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 130.045, + -0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + 155.045, + 0.0 + ], + [ + 876.401, + 1659.166, + 468.15, + -0.199, + -179.955, + 0.0 + ], + [ + 750.543, + 1659.067, + 468.15, + -0.199, + -179.955, + 0.0 + ], + [ + 750.543, + 1659.067, + 468.15, + -0.199, + -154.955, + -0.0 + ], + [ + 750.543, + 1659.067, + 468.15, + -0.199, + -129.955, + -0.0 + ], + [ + 676.063, + 1591.91, + 511.895, + -0.199, + -129.955, + -0.0 + ], + [ + 676.063, + 1591.91, + 511.895, + -0.199, + -129.955, + -0.0 + ], + [ + 676.063, + 1591.91, + 511.895, + -0.199, + -129.955, + -0.0 + ] + ], + "Rationale": [ + "I am standing in front of a vanity with a sink, mirror and a window, so this is clearly a washroom area, but no toilet is anywhere in my view. I will begin a steady rightward scan of the room to bring the unseen walls beside and behind the vanity into view. Turning consistently in one direction should let me cover the whole space without losing track of what I have already checked.", + "The vanity has shifted to my left and a towel ring with a hanging towel is now on the wall ahead, which reinforces that this is a bathroom, but there is still no toilet in sight. I will keep rotating right to sweep past this stretch of wall. The fixtures I want are likely around the corner of the room that is still hidden from me.", + "Ahead of me is mostly bare wall with the towel ring off to the left and no fixture of interest. Continuing the same rightward rotation is the efficient way to reach the parts of the room I have not inspected yet. I expect the next heading to reveal either a corner or an opening.", + "My view is now filled almost entirely by featureless wall very close in front of me, which offers no cue about where the toilet is. I will keep turning right rather than stopping, since this heading is uninformative. Maintaining one turn direction should carry me past this flat surface toward a corner or passage.", + "A faint vertical edge has appeared at the right side of the wall ahead, suggesting a corner or a change of surface just beyond my current heading. I will continue the rightward turn to bring that edge fully into view. It may open onto the part of the room where the toilet stands.", + "Now I can see two wall planes meeting at a vertical corner directly in front of me, so the space clearly continues to my right. I will keep rotating in the same direction to follow that corner around. Whatever lies past it is still unchecked, and the toilet has not appeared anywhere so far.", + "Door casing and the edge of a white panelled door have come into view on the right side of my heading, which is the first real structural cue in this stretch. I will continue turning right to face that door squarely. A doorway is a strong lead toward the rest of the washroom space.", + "The panelled door with its brass lever now fills most of my view, confirming a passage on this side of the room, but the toilet is still not visible from here. I will keep the rightward rotation going to see whether the door stands open and what lies beside it. That should reveal the adjoining part of the space rather than leaving me staring at the door face.", + "Directly ahead is a closed paneled door with a lever handle, and no toilet is anywhere in this narrow slice of the room. A small picture and the edge of a cabinet are just entering at the right, which suggests more open space in that direction. I will keep rotating right in the same consistent direction to widen my scan.", + "The rotation has opened onto a tiled area with a laundry hamper, a wire shelf, and a washer, which are strong signs of a bathroom or utility bay rather than the vanity nook behind me. The toilet itself is still not in sight, so the promising space continues off to the right. I will continue turning right to bring that tiled area fully into view.", + "Now I can see a bathtub with a shower curtain and a bright window across the tiled room, which confirms this is the bathroom area. A toilet would most plausibly sit along the far wall still hidden to my right. I will turn right once more to expose that remaining portion of the room.", + "The full bathroom is now in front of me and I can clearly see a white toilet on the right side beside a small table, past the tub and washer. It is well across the room, so I need to close that distance rather than keep scanning. I will walk forward into the bathroom toward it.", + "Walking forward has carried me into the tiled bathroom, but my heading now points at the tub and curtained window, leaving the toilet outside the view to my right. I need to swing my body back toward that side wall. I will turn right to re-acquire the toilet.", + "The white toilet tank has come back into sight at the lower right edge of my view, so my heading is close but still offset. Another right rotation should place it near the center of my view for a straight approach. I will turn right again.", + "The toilet is now centered ahead of me, standing against the wall beside the bright window with the tub to my left. It is still a couple of paces away, so I want to be close enough for a confident identification. I will step forward toward it.", + "After stepping forward I am right beside the fixture, and my level gaze now shows only the tiled tub wall, the toilet paper roll, and the wall artwork, with the toilet itself below my line of sight. Tilting my head down should bring the nearby toilet back into clear view for confirmation. I will look down.", + "The toilet, its tank and bowl, sits directly in front of me at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..261f1fb8151000946dd474cc864806ba017b64bd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Go to the lit floor lamp first, then continue to the cabinet beside the refrigerator.", + "Type": 3, + "Start_Pose": [ + 876.866, + 2132.04, + 287.448, + 0.0, + -53.884, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 876.866, + 2132.04, + 287.448, + 0.0, + -53.884, + 0.0 + ], + [ + 876.866, + 2132.04, + 287.45, + 0.0, + -28.884, + 0.0 + ], + [ + 986.877, + 2081.208, + 209.996, + 0.0, + -28.884, + 0.0 + ], + [ + 986.877, + 2081.208, + 209.996, + 0.0, + -53.884, + 0.0 + ], + [ + 986.877, + 2081.208, + 209.996, + 0.0, + -78.884, + 0.0 + ], + [ + 1005.807, + 2081.185, + 195.487, + 0.0, + -78.884, + 0.0 + ], + [ + 987.435, + 2131.086, + 209.579, + 0.0, + -78.884, + 0.0 + ], + [ + 987.435, + 2131.086, + 209.579, + 0.0, + -53.884, + 0.0 + ], + [ + 1065.867, + 2045.512, + 168.15, + 0.0, + -53.884, + 0.0 + ], + [ + 1065.867, + 2045.512, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1088.5, + 1942.218, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1088.5, + 1942.218, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1041.832, + 1888.853, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1041.832, + 1888.853, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1028.669, + 1797.452, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1028.669, + 1797.452, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1010.855, + 1888.118, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 993.04, + 1978.785, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 993.04, + 1978.785, + 168.15, + 0.0, + -53.884, + 0.0 + ], + [ + 993.04, + 1978.785, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1090.066, + 1942.086, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1090.066, + 1942.086, + 168.15, + 0.0, + -3.884, + 0.0 + ], + [ + 1215.606, + 1935.444, + 168.15, + 0.0, + -3.884, + 0.0 + ], + [ + 1341.176, + 1926.919, + 168.15, + 0.0, + -3.884, + 0.0 + ], + [ + 1426.813, + 1930.943, + 168.15, + 0.0, + -3.884, + 0.0 + ], + [ + 1426.813, + 1930.943, + 168.15, + 0.0, + -3.884, + 0.0 + ] + ], + "Rationale": [ + "A railing sits directly in front of me and a broad column splits the room, so the lit floor lamp on the left is boxed behind that partition. I will turn right to bring the open floor and the kitchen side into view, where a walkable route past the railing and column should be visible.", + "The floor ahead is clear all the way into the open kitchen area, with no railing blocking my path now. I will walk forward to get past the column that hides the lit lamp and gain room to swing back toward it.", + "I am now well inside the open room, facing the counters, refrigerator and dining table, with no lamp anywhere in front of me. The glow I want lies back to my left behind the column, so I will turn left to bring that side of the room into view.", + "The lit floor lamp has come back into view on my left, standing by the bookcase and low cabinet, but it is still off to the side of my heading. I will turn left again to put that lamp closer to the center of my path.", + "The lit lamp now stands ahead of me against the bookcase and window wall, with open floor between us. I will step forward to close that distance and reach it.", + "My last step forward brought me right up against a large wooden panel that now fills the middle of my view and cuts off the way toward the lit lamp beyond it. I will back up to open some space in front of me so I can see past this obstruction and pick a clear line again.", + "With space regained I can see that the wooden structure ahead of me is a stair rail running across my heading, so pressing straight on is not an option. Turning right should swing me off that blocked line and toward the open floor stretching into the kitchen area.", + "The stair rail is now off to my left edge and a broad stretch of clear floor opens in front of me. I will walk forward along this unobstructed line to get well clear of the stairs and closer to the room where the lit lamp stands.", + "That advance carried me forward past the stairs, but the glowing lamp shade has slipped to the far left edge of my view while the counters and refrigerator sit ahead. I will turn left to bring the lit lamp back into the middle of my heading before closing on it.", + "The lit floor lamp is back in view, standing against the far wall beside the low cabinet with clear floor between us. I will step forward along this heading to cut down that distance and reach the lamp.", + "My last step forward has brought me right up against a broad structural pillar that now fills the middle of my view and hides the lit floor lamp entirely. Turning left should swing my heading off this blank surface and reopen the living room side where the lamp stands.", + "The turn has cleared the pillar enough that the glowing lamp shade shows again at the right edge, with the sofa and curtained window opening to my left. The floor between us is clear, so I will walk forward to close the remaining gap to the lamp.", + "The lit floor lamp is now close but sits off to my right, its shade against the bookshelf beside the low cabinet, while my heading points at the empty window wall. I will turn right so the lamp comes to the center of my path before I step in.", + "The lamp now stands squarely ahead of me, its shade at eye height with the low cabinet and bookshelf just behind it. A short walk forward should bring me right up beside the lamp.", + "The glowing shade of the floor lamp is right at my shoulder, its base beside the low cabinet under the book-filled shelves. I have reached the lit floor lamp. I mark arriving here before turning back toward the kitchen for the cabinet beside the refrigerator.", + "The lit lamp fills the right of my view at arm's length and the bookcase and wall crowd me in this narrow corner, so I have already reached it and my remaining destination is the kitchen. From this tight spot I cannot turn cleanly toward the cabinets by the refrigerator. Stepping back should open enough room to reorient.", + "The lamp has shrunk back into the room and the bookcase alcove is no longer pressing against me, but the wall on my right still hides the kitchen doorway. Another step back should put me clear of this recess so I can swing toward the refrigerator side of the house.", + "I now stand back in the open living area with the lamp and window bay ahead of me, and the kitchen lies off to my right beyond the wall edge. Turning right should bring that opening and the refrigerator wall into view so I can head for the cabinet beside it.", + "The kitchen has appeared at the right edge of my view, with the counter, sink and the white refrigerator just past the column. My heading is still angled into the living room, so another turn right should centre that kitchen wall ahead of me before I walk toward it.", + "The refrigerator and the tall glass-panelled cabinet standing right next to it are now centred ahead of me across the open floor. Only the column at my left edge remains beside my path, and the way forward is clear. Walking ahead should close the distance to that cabinet.", + "The kitchen run is open ahead, and the white refrigerator with the tall glass-fronted cabinet beside it sits right of my heading. Turning right should bring that cabinet toward the center of my view so I can walk straight at it.", + "The refrigerator and the glass-doored cabinet immediately beside it are now squarely in front of me with clear floor between us. I will walk forward to cut down that distance.", + "The cabinet next to the refrigerator has grown noticeably larger and stays centered, so my heading is still good. I will keep walking forward to close the remaining gap.", + "The frosted glass doors of the cabinet beside the refrigerator now fill much of my view, though I am still a step short of standing right at them. One more step forward should put me directly in front of it.", + "I am standing directly at the glass-paned doors of the cabinet beside the refrigerator. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t3_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa3ad8b7ccc3cf6a66521ba829df7af4b7636a6f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t3_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Go to the refrigerator first, then proceed to the lit floor lamp.", + "Type": 3, + "Start_Pose": [ + 876.866, + 2132.04, + 287.448, + 0.0, + -53.884, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 876.866, + 2132.04, + 287.448, + 0.0, + -53.884, + 0.0 + ], + [ + 876.866, + 2132.04, + 287.45, + 0.0, + -28.884, + 0.0 + ], + [ + 986.877, + 2081.208, + 209.996, + 0.0, + -28.884, + 0.0 + ], + [ + 1095.187, + 2045.194, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1205.389, + 1984.399, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1315.591, + 1923.604, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -53.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -128.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -153.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + -178.884, + 0.0 + ], + [ + 1415.69, + 1863.645, + 168.15, + 0.0, + 156.116, + -0.0 + ], + [ + 1300.609, + 1914.604, + 168.15, + 0.0, + 156.116, + -0.0 + ], + [ + 1185.527, + 1965.562, + 168.15, + 0.0, + 156.116, + -0.0 + ], + [ + 1185.527, + 1965.562, + 168.15, + 0.0, + -178.884, + 0.0 + ], + [ + 1185.527, + 1965.562, + 168.15, + 0.0, + -153.884, + 0.0 + ], + [ + 1082.289, + 1941.395, + 168.15, + 0.0, + -153.884, + 0.0 + ], + [ + 1082.289, + 1941.395, + 168.15, + 0.0, + -128.884, + 0.0 + ], + [ + 1082.289, + 1941.395, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1034.644, + 1864.163, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1034.644, + 1864.163, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1023.405, + 1793.523, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1023.405, + 1793.523, + 168.15, + 0.0, + -78.884, + 0.0 + ] + ], + "Rationale": [ + "From the landing I can see the kitchen through the opening on the right, with a tall white refrigerator standing among the cabinets. My heading is aimed too far left, toward the bookcase and window, so I turn right to put the kitchen and that refrigerator ahead of me before walking.", + "The kitchen now lies straight ahead, with the refrigerator between the cabinet runs and clear wood floor between me and it. Nothing blocks the path, so I step forward to cut down the distance to that appliance.", + "The counters, sink and refrigerator have grown larger, confirming I am closing on the kitchen. The appliance still sits well down the room, so I keep walking straight toward it.", + "I am inside the kitchen now, with the refrigerator ahead and slightly right against the wall of cabinets. My heading is already good, so another straight step should bring me close to it.", + "The refrigerator door and its handles are clearly readable a short way ahead, beside the sink counter. I continue forward to bring myself within reach of it rather than stopping short in the middle of the floor.", + "The refrigerator now fills much of the right half of my view and the sink counter runs along my left. One more step should place me directly alongside the appliance.", + "The refrigerator's white door and chrome handle stand right in front of me, close enough to touch, with the kitchen sink at my side. I have reached the refrigerator. I mark reaching it before setting off for the lit floor lamp back by the bookcase.", + "The refrigerator front still fills my view, so there is nothing further for me here. The lit floor lamp stands back across the house, well behind my current heading, so I turn left to begin swinging away from this counter toward the open route out of the kitchen.", + "Having reached the refrigerator, I now face only the sink counter and the side door, with no sign of the glowing floor lamp. I will keep swinging left to sweep my view off this cabinet wall and find the opening back toward the living area.", + "The rotation has brought the exterior door and its narrow side windows in front of me, which is the outside wall rather than the way toward the lamp. I will turn left again to keep bringing the room's interior into view.", + "Now I see the corner hutch and the door on this outer wall, with clear floor ahead but still no warm lamp glow. Another left turn should carry my heading further around toward the open part of the house.", + "Tall pantry cabinets now block most of the view on the left, so this heading leads into a dead wall rather than the lit lamp. I will continue turning left to bring the space beyond those cabinets into sight.", + "Past the cabinet block I can just catch a staircase and open floor at the left edge, which suggests the route into the wider living space. I will turn left once more to put that opening in front of me.", + "The staircase and the broad open floor are now clearly to my left while the cabinet unit still crowds the right of my view. One more left turn should center that open passage so I can walk straight into it toward the lamp.", + "I am now aimed down the open floor past the dining table, with the staircase and unobstructed hallway ahead of me. Walking forward should carry me out of the kitchen area and into the living space where the lit floor lamp stands.", + "The staircase and the far interior door are closer now, and the floor ahead is still clear of furniture. I will step forward again to reach the open living area where the lamp light should become visible.", + "The staircase and its railing fill the space straight ahead, so there is no lit lamp along this heading. The open floor continues to my right past the stairs toward a brighter living area. I will turn right to bring that opening into view and look for a standing lamp there.", + "The living area is now partly in frame, with a couch, a glowing television and a chandelier off to my right, while the stairs still occupy the left half of my view. Rotating right again should center that seating area so I can scan it for a lit floor lamp.", + "A wall edge on my right still cuts off much of the living room, leaving only the couch and television visible through the gap. Walking forward down this open floor should carry me past that edge and expose the rest of the room, where a standing lamp would be.", + "I am now inside the living room with the couch and curtained window ahead, but no lit floor lamp is in this part of the view. The room clearly extends further to my right beyond the window wall. I will turn right to sweep that unseen portion.", + "A tall floor lamp with a glowing shade has come into the right edge of my view, standing beside a column past the couch. Turning right once more should bring that lit lamp toward the center of my view so I can walk straight at it.", + "The lit floor lamp now stands clearly in the right half of my view beside the column, with open floor between us. Stepping forward should close most of that remaining gap.", + "The glowing lamp is close now but sits off to my right, its shade filling the corner of my view beside the bookshelf. A right turn should square me onto it before I take the last steps.", + "The lit lamp now stands centered just ahead of me, its shade bright and close against the wall and bookcase. One more step forward should bring me right up beside it.", + "The glowing lamp shade stands right beside me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69418bff595c00b21b46cf98ce380347990b4c99 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000877_y002132_z000287_t5_a_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Pick up the candelabra by the refrigerator, then place it by the lit floor lamp.", + "Type": 5, + "Start_Pose": [ + 876.866, + 2132.04, + 287.448, + 0, + -53.884, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1421.267, + 1858.179, + 83.15, + 0, + 50, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 876.866, + 2132.04, + 287.448, + 0, + -53.884, + 0 + ], + [ + 876.866, + 2132.04, + 287.45, + 0.0, + -28.884, + 0.0 + ], + [ + 986.877, + 2081.208, + 209.996, + 0.0, + -28.884, + 0.0 + ], + [ + 1095.187, + 2045.194, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1205.389, + 1984.399, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1315.591, + 1923.604, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1315.591, + 1923.604, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -28.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -53.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -128.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -153.884, + 0.0 + ], + [ + 1234.686, + 1968.237, + 168.15, + 0.0, + -178.884, + 0.0 + ], + [ + 1108.851, + 1965.787, + 168.15, + 0.0, + -178.884, + 0.0 + ], + [ + 1108.851, + 1965.787, + 168.15, + 0.0, + -153.884, + 0.0 + ], + [ + 1108.851, + 1965.787, + 168.15, + 0.0, + -128.884, + 0.0 + ], + [ + 1025.231, + 1887.781, + 168.15, + 0.0, + -128.884, + 0.0 + ], + [ + 1025.231, + 1887.781, + 168.15, + 0.0, + -103.884, + 0.0 + ], + [ + 1025.231, + 1887.781, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1028.186, + 1797.001, + 168.15, + 0.0, + -78.884, + 0.0 + ], + [ + 1028.186, + 1797.001, + 168.15, + 0.0, + -53.884, + 0.0 + ], + [ + 985.748, + 1855.164, + 168.15, + 0.0, + -53.884, + 0.0 + ], + [ + 985.748, + 1855.164, + 168.15, + 0.0, + -53.884, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1421.267, + 1858.179, + 83.15, + 0.0, + 50.0, + -0.0 + ], + [ + 1421.267, + 1858.179, + 83.15, + 0.0, + 50.0, + -0.0 + ], + [ + 1421.267, + 1858.179, + 83.15, + 0.0, + 50.0, + -0.0 + ], + [ + 1421.267, + 1858.179, + 83.15, + 0.0, + 50.0, + -0.0 + ], + [ + 1421.267, + 1858.179, + 83.15, + 0.0, + 50.0, + -0.0 + ], + [ + 1421.267, + 1858.179, + 83.15, + 0.0, + 50.0, + -0.0 + ], + [ + 1325.371, + 1942.596, + 138.257, + -28.202, + 21.26, + 1.862 + ], + [ + 1244.14, + 1987.412, + 138.856, + -28.191, + 21.264, + 1.872 + ], + [ + 1251.26, + 1980.642, + 137.901, + -28.2, + -3.746, + 1.859 + ], + [ + 1253.791, + 1972.023, + 138.634, + -28.205, + -28.744, + 1.865 + ], + [ + 1259.567, + 1956.497, + 138.043, + -14.175, + -61.692, + 6.959 + ], + [ + 1251.272, + 1955.368, + 137.932, + -28.208, + -78.742, + 1.851 + ], + [ + 1243.728, + 1950.534, + 138.6, + -28.198, + -103.738, + 1.867 + ], + [ + 1229.785, + 1941.166, + 138.043, + -14.175, + -136.692, + 6.959 + ], + [ + 1109.995, + 1944.45, + 138.482, + -28.198, + -128.739, + 1.865 + ], + [ + 1119.094, + 1946.053, + 138.353, + -28.189, + -103.726, + 1.869 + ], + [ + 1126.452, + 1951.436, + 138.07, + -28.198, + -78.738, + 1.862 + ], + [ + 1042.042, + 1874.624, + 137.664, + -28.22, + -78.76, + 1.85 + ], + [ + 1047.264, + 1883.154, + 138.888, + -28.193, + -53.737, + 1.871 + ], + [ + 1047.303, + 1891.899, + 137.807, + -28.208, + -28.745, + 1.852 + ], + [ + 1048.942, + 1802.103, + 138.78, + -28.207, + -28.747, + 1.859 + ], + [ + 1045.816, + 1810.046, + 137.666, + -28.194, + -3.736, + 1.862 + ], + [ + 1027.008, + 1798.616, + 138.15, + 0.0, + -123.884, + 0.0 + ], + [ + 1027.008, + 1798.616, + 138.15, + 0.0, + -123.884, + 0.0 + ] + ], + "PD_Dist_2D": [ + 609.4, + 609.4, + 488.3, + 375.9, + 250.1, + 124.3, + 21.4, + 21.4, + 20.7, + 19.5, + 27.5, + 21.0, + 19.9, + 27.5, + 21.4, + 22.2, + 22.7, + 21.3, + 22.5, + 22.5, + 21.4, + 21.9, + 70.0, + 70.0 + ], + "Rationale": [ + "The kitchen with its white refrigerator sits well to my right, and I can make out the branched candelabra standing on the floor beside the cabinets there. Facing forward I would walk into the partition and railing instead. I turn right to put that kitchen run and the refrigerator ahead of me before advancing.", + "The kitchen now lies straight ahead, with the refrigerator and the candlestick shapes on the floor beside it centered in my path. The open floor between me and the cabinets is clear. I step forward to close that distance.", + "The kitchen counter, sink and refrigerator have grown noticeably larger, and the candelabra by the cabinets is clearly resolved on the floor. I am still several strides short of grasping range. I continue walking straight toward it.", + "The candelabra now stands plainly on the floor a little left of center, just short of the refrigerator and the tall glazed cabinets. It is still too distant to reach from here. I keep advancing along the same clear line.", + "The candelabra is close ahead, its candle arms filling the lower part of my view with the refrigerator right behind it. One more step should bring it within arm's reach. I move forward to reach that grasping position.", + "I am standing right at the cabinet run with the refrigerator beside me, and the candelabra's candles rise into the bottom of my view at arm's length. This is the candelabra by the refrigerator named in the task. I attempt the pick now, which should place it in my hands.", + "The grasp worked: the candelabra is in my hands now and no longer resting on the kitchen floor. I am pressed up close against the cabinets and refrigerator, with no room to swing around while carrying it. I step back to open clearance so I can turn toward the living area and its lit floor lamp.", + "With the candelabra in hand and a little space now between me and the cabinet run, I still face the kitchen wall, which leads nowhere useful. The lit floor lamp sits back in the living area behind me. I turn left to begin swinging my heading around toward that room.", + "With the candelabra in hand, I still face the kitchen counters and the exterior door, which leads nowhere useful for this errand. The lit floor lamp sits back near the bookshelf in the living area behind me, so I keep rotating left to swing my heading away from the kitchen run.", + "My heading now points down the kitchen at the back entry door, with tall glazed cabinets filling the left side. That is not the route toward the lamp, so I continue turning left to keep sweeping toward the interior of the house.", + "The cabinet run has slid across to my left and only the entry door and blank wall remain ahead, still no opening toward the lamp. I turn left again to bring the interior doorway around into the front of my view while carrying the candelabra.", + "A gap now shows on my far left with the living room floor and the television beyond it, while a wall column still blocks most of my forward path. Turning left again should center that opening so I can walk through with the candelabra.", + "The staircase and the living room now open on my left, but the wall on my right still crowds half the view, so I am not squarely on the corridor. One more left turn should line my heading down that clear stretch of floor toward the far room.", + "I am now facing straight down the open hallway beside the staircase, with the living room and its furniture visible at the far end and nothing blocking the floor. I walk forward to carry the candelabra toward that room where the lit lamp stands.", + "Stepping down the hall has brought me level with the living room, which now sits off to my right rather than ahead. I turn right to swing that seating area and the corner where the lamp glows into the center of my view.", + "The living room is now open in front of me with the sofa and window, but the lit floor lamp is farther around to my right near the bookshelf wall. I turn right again to bring that lamp corner into view before approaching it with the candelabra.", + "The candelabra is still in my hands, and the glow of the lit floor lamp shows at the right edge of my view beside the far cabinet. I will walk forward into the open living room floor to close the remaining distance to that corner.", + "Walking ahead has brought me level with the sofa, but my heading now points at the window wall while the lamp corner sits off to my right. I will turn right to bring that lamp side back into the center of my view.", + "The lit floor lamp and the bookshelf beside it have come into the right part of my view, but they are still off center. I will turn right once more so the lamp sits directly ahead before I approach it.", + "The lit lamp now stands centered ahead of me next to the low cabinet and bookshelf, but it is still several steps away. I will step forward to get within placing range of its base.", + "I am close enough that the lamp fills the right side of my view while the bookshelf dominates the center. I will turn right to square up on the lamp so the floor beside it is what lies directly in front of me.", + "I am now squared up right at the lit floor lamp, its shade and stem filling my view at arm's length. This is the spot the task asks for, so I will release the candelabra here beside the lamp and expect it to settle on the floor.", + "The candelabra now stands on the floor beside the lit lamp and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000884_y001913_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000884_y001913_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39bc776ff36aedf17bd7dc4e8f6ae7b789537df7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000884_y001913_z000168_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Explore the environment to find and go to the television.", + "Type": 1, + "Start_Pose": [ + 884.004, + 1913.487, + 168.15, + -0.05, + -8.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -8.88, + 0.0 + ], + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -33.88, + -0.0 + ], + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -58.88, + 0.0 + ], + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -83.88, + 0.0 + ], + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -108.88, + 0.0 + ], + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -133.88, + -0.0 + ], + [ + 884.004, + 1913.487, + 168.15, + -0.05, + -158.88, + -0.0 + ], + [ + 766.599, + 1868.137, + 168.15, + -0.05, + -158.88, + -0.0 + ], + [ + 649.195, + 1822.787, + 168.15, + -0.05, + -158.88, + -0.0 + ], + [ + 531.79, + 1777.438, + 169.125, + -0.05, + -158.88, + -0.0 + ], + [ + 531.79, + 1777.438, + 169.125, + -0.05, + -158.88, + -0.0 + ] + ], + "Rationale": [ + "From here I can see a kitchen and dining area past the partition wall on my right, but no television anywhere in this view. I will start a leftward scan of the room to open up the parts of the space hidden behind the wall and lamp on my left.", + "The view now shows a tall bookcase with a cabinet base and a floor lamp against a plain wall, still no television. I will keep rotating left in the same direction to sweep further around this room.", + "A curtained window and the side of the bookcase are in front of me, and there is still no screen in sight. Continuing the same leftward sweep should reveal the rest of this living area beyond the window wall.", + "A sofa and a second window wall have come into view, which suggests I am turning into a seating area where a television would plausibly be placed. I will continue the leftward rotation to uncover the wall the sofa faces.", + "At the far left edge of my view I can make out a flat pale screen sitting on a low chest of drawers beyond the sofa. I will turn left again to bring that likely television fully into the center of my view.", + "The television is now clearly visible with its lit blue screen on the low dresser, sitting left of my current heading. One more left turn should line my heading up with it so I can walk straight toward it.", + "The television is now roughly ahead of me on its dresser under the shelf, with clear open floor between us. I will walk forward to close the distance toward it.", + "The television screen is larger and still directly ahead of me, so my heading remains good. I will keep stepping forward to get close enough to count as reaching it.", + "The television is clearly ahead of me on the low dresser, screen lit and centered in my view, with clear floor between us. I will step forward once more to close the remaining gap so I am standing right at it rather than a couple of paces back.", + "The lit television screen fills the near view directly in front of me, at arm's reach on its stand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000884_y002134_z000281_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000884_y002134_z000281_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05226288f26a29415ee621acb67b1b51cae67627 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000884_y002134_z000281_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the sofa.", + "Type": 0, + "Start_Pose": [ + 883.772, + 2134.019, + 280.845, + -0.05, + -88.04, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "LookDown", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 883.772, + 2134.019, + 280.845, + -0.05, + -88.04, + 0.0 + ], + [ + 883.772, + 2133.895, + 281.172, + -0.05, + -63.04, + -0.0 + ], + [ + 935.472, + 2081.127, + 246.636, + -0.05, + -63.04, + -0.0 + ], + [ + 935.472, + 2081.127, + 246.636, + -0.05, + -63.04, + -0.0 + ], + [ + 935.472, + 2081.127, + 246.636, + -0.05, + -38.04, + -0.0 + ], + [ + 1028.615, + 2079.428, + 179.636, + -0.05, + -38.04, + -0.0 + ], + [ + 1129.4, + 2005.81, + 168.15, + -0.05, + -38.04, + -0.0 + ], + [ + 1129.4, + 2005.81, + 168.15, + -0.05, + -63.04, + -0.0 + ], + [ + 1129.4, + 2005.81, + 168.15, + -0.05, + -88.04, + -0.0 + ], + [ + 1129.4, + 2005.81, + 168.15, + -0.05, + -113.04, + 0.0 + ], + [ + 1129.4, + 2005.81, + 168.15, + -0.05, + -138.04, + 0.0 + ], + [ + 1035.81, + 1921.659, + 168.15, + -0.05, + -138.04, + 0.0 + ], + [ + 942.22, + 1837.509, + 168.15, + -0.05, + -138.04, + 0.0 + ], + [ + 870.963, + 1753.866, + 168.15, + -0.05, + -138.04, + 0.0 + ], + [ + 870.963, + 1753.866, + 168.15, + -0.05, + -138.04, + 0.0 + ] + ], + "Rationale": [ + "I can glimpse a pale sofa and curtained windows ahead, but a stair railing runs straight across my line of travel, so I cannot head at it directly. I will turn right to face the open floor beside the railing and look for a walkable route into that living area.", + "After turning, the floor ahead is clear past the bookshelf and pillar, with the railing now off to my left. I will move forward along this open lane to leave the stair area and gain a better vantage on the rooms beyond.", + "My view is tilted high toward the ceiling and upper cabinets, so I cannot judge the floor and low obstacles immediately in front of me. I will look down to check the ground clearance and the railing edge near my feet before continuing.", + "Looking down confirms open floor at my feet with the railing ending just behind and to my left. The nearer partition wall still crowds my heading, so I will turn right to line up with the wide open passage toward the kitchen side of the house.", + "I now face a broad open span of floor with the bookcase and lamp on my left and the kitchen counters on my right. I will move forward through this gap to cross the room and reach a position where more of the seating area may become visible.", + "The kitchen run and dining chair are still off to my right and the floor ahead remains empty toward the far door. I will advance again to clear the partition on my left, which should open up the adjoining room where the sofa sits.", + "From here I only see kitchen cabinets, the refrigerator, and the exterior door, with no sofa anywhere in front of me. I will turn left to swing my heading back toward the living space where I first spotted the sofa and curtained windows.", + "The rotation so far has pushed the kitchen counters to the right and brought a doorway and open floor into the left half of my view, but still no sofa. I will keep turning left to continue sweeping toward the living area and bring the seating into the middle of my view.", + "A wide partition wall still blocks the middle of my view, but past its left edge I can pick out the pale arm of a couch beside the curtained window. I will turn left again to swing that seating area out from behind the partition and into the center of my view.", + "The sofa is now clearly visible in the left half of my view, backed by the window with the television and dresser beyond it. It still sits well off my forward axis, so I will turn left once more to line my heading up with it before advancing.", + "The living room now opens straight ahead with the sofa roughly centered in front of the window, and the floor between us is clear and unobstructed. I will move forward to start closing the gap toward it.", + "The sofa has grown noticeably larger and I can see its backrest and the rug in front of it, but I am still several steps short of it. Another forward step should bring me nearer to the seating area.", + "The sofa now fills much of the lower part of my view with its cushions and armrest just ahead and slightly right. One more forward step should place me right at the sofa's edge.", + "The sofa is directly in front of me, close enough that its armrest and cushions fill the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000885_y001620_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000885_y001620_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..224bbefa851b52399579cf68718fc26e137475db --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000885_y001620_z000468_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the area and go to the washing machine.", + "Type": 1, + "Start_Pose": [ + 884.84, + 1620.226, + 468.149, + -0.301, + -89.929, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 884.84, + 1620.226, + 468.149, + -0.301, + -89.929, + 0.0 + ], + [ + 884.84, + 1620.226, + 468.149, + -0.301, + -114.929, + 0.0 + ], + [ + 884.84, + 1620.226, + 468.149, + -0.301, + -139.929, + 0.0 + ], + [ + 884.84, + 1620.226, + 468.149, + -0.301, + -164.929, + 0.0 + ], + [ + 884.84, + 1620.226, + 468.149, + -0.301, + 170.071, + 0.0 + ], + [ + 760.868, + 1641.927, + 468.149, + -0.301, + 170.071, + 0.0 + ], + [ + 636.896, + 1663.628, + 468.149, + -0.301, + 170.071, + 0.0 + ], + [ + 636.896, + 1663.628, + 468.149, + -0.301, + 145.071, + 0.0 + ], + [ + 554.318, + 1678.284, + 468.149, + -0.301, + 145.071, + 0.0 + ], + [ + 554.318, + 1678.284, + 468.149, + -0.301, + 120.071, + 0.0 + ], + [ + 554.318, + 1678.284, + 468.149, + -0.301, + 120.071, + 0.0 + ], + [ + 554.318, + 1678.284, + 468.149, + -0.301, + 120.071, + 0.0 + ] + ], + "Rationale": [ + "I am facing a vanity counter with a soap bottle and a mirror, so no washing machine is anywhere in this narrow view. The tiled fixtures suggest this is a bathroom or laundry area, so a scan of the room is worthwhile. I will turn left to begin sweeping consistently across the rest of the room.", + "The sweep has opened up a bright window with a plant and vase beside the counter, but still no laundry appliance. The room clearly extends further to my left, so more of it remains unseen. I will keep turning left in the same direction to reveal that part of the space.", + "Now I can see a tiled shower with a bathtub and a toilet on the far side of the room, which confirms a wet room where a washing machine would plausibly sit. Nothing resembling the appliance is visible yet along this wall. I will continue the same leftward scan toward the deeper corner of the room.", + "A front loading washing machine is now visible on the tiled floor to the left, next to the shower curtain and beyond the toilet. It sits off to the left of my heading rather than straight ahead. I will turn left once more to bring it closer to the center of my view before advancing.", + "The washing machine is now framed in my view, standing against the wall past the shelving unit and near the curtain. The tiled floor between us looks open and clear. I will walk forward to close that distance.", + "The washer has grown noticeably larger and now sits just left of center with the tub beyond it, so my previous step made good progress. I am still several paces short of standing at the appliance. I will step forward again along this clear path.", + "Advancing has brought me close to the shower curtain, and the washing machine has slipped to the lower left edge of my view with only its control panel showing. My heading is now aimed past the target instead of at it. I will turn left to bring the appliance back into the center of my view.", + "The washing machine is centered again with the detergent box on its lid, so it is directly in front of me now. There is still a short gap of floor before I would be standing right at it. I will step forward to finish closing on the appliance.", + "My forward step brought me right up beside the tiled corner, and the white appliance top with its detergent box has slipped to the far left edge of my view. I will turn left so the washing machine sits centered in front of me instead of at the periphery.", + "The turn worked, and the washing machine's white top with the washing powder box and toilet roll is now directly ahead of me at close range. Since only the upper surface is visible at eye level, I will look down to bring the machine body and its controls into view and confirm I am standing at it.", + "The washing machine's front panel with its dial and controls fills the near view directly below me. The task is complete, so I stop here at the target." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000885_y001748_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000885_y001748_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..151ac935f2e340982ff4901075682aa06855e5e1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000885_y001748_z000468_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the shower curtain.", + "Type": 0, + "Start_Pose": [ + 884.858, + 1748.402, + 468.15, + 0.0, + -135.25, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 884.858, + 1748.402, + 468.15, + 0.0, + -135.25, + 0.0 + ], + [ + 884.858, + 1748.402, + 468.15, + 0.0, + -160.25, + 0.0 + ], + [ + 766.402, + 1705.872, + 468.15, + 0.0, + -160.25, + 0.0 + ], + [ + 647.947, + 1663.342, + 468.15, + 0.0, + -160.25, + 0.0 + ], + [ + 647.947, + 1663.342, + 468.15, + 0.0, + 174.75, + -0.0 + ], + [ + 522.616, + 1674.859, + 468.15, + 0.0, + 174.75, + -0.0 + ], + [ + 522.616, + 1674.859, + 468.15, + 0.0, + 174.75, + -0.0 + ] + ], + "Rationale": [ + "I can see the shower curtain and tub alcove off to the left side of this bathroom, while my heading points toward the window and vanity ahead. I will turn left to bring the curtain closer to the center of my view before advancing.", + "The curtain and tub now sit in the left-center of my view with clear open tile between me and them. I will move forward to close the sizeable distance across the room toward that alcove.", + "The curtain and tub fill much more of my view now, so the gap is shrinking but I am still several steps short of the alcove. The floor ahead remains clear, so I will continue forward.", + "The curtain has drifted to the left edge of my view while the tiled wall and tub dominate straight ahead. I will turn left to square my heading onto the curtain before taking the last step.", + "The shower curtain is now centered directly ahead with only a short stretch of tile in front of it. One more step forward should place me right at the curtain.", + "The shower curtain fabric fills my entire view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000898_y001620_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000898_y001620_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..667cb328dde0e05408672a2f1fb085b581dd4fc4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000898_y001620_z000468_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the area and go to the bathtub.", + "Type": 1, + "Start_Pose": [ + 897.933, + 1620.12, + 468.15, + -0.05, + -60.759, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 897.933, + 1620.12, + 468.15, + -0.05, + -60.759, + 0.0 + ], + [ + 897.933, + 1620.12, + 468.15, + -0.05, + -85.759, + -0.0 + ], + [ + 897.933, + 1620.12, + 468.15, + -0.05, + -110.759, + -0.0 + ], + [ + 897.933, + 1620.12, + 468.15, + -0.05, + -135.759, + -0.0 + ], + [ + 897.933, + 1620.12, + 468.15, + -0.05, + -160.759, + -0.0 + ], + [ + 897.933, + 1620.12, + 468.15, + -0.05, + 174.241, + -0.0 + ], + [ + 772.709, + 1632.749, + 468.15, + -0.05, + 174.241, + -0.0 + ], + [ + 647.486, + 1645.378, + 468.709, + -0.05, + 174.241, + -0.0 + ], + [ + 647.486, + 1645.378, + 468.709, + -0.05, + -160.759, + -0.0 + ], + [ + 528.657, + 1603.903, + 468.15, + -0.05, + -160.759, + -0.0 + ], + [ + 528.657, + 1603.903, + 468.15, + -0.05, + -160.759, + -0.0 + ] + ], + "Rationale": [ + "I am facing a blank wall with a towel ring and the edge of a stone counter, so no bathtub is in view from here. The fixtures confirm I am inside a bathroom, so I will turn left to begin a steady scan of the room for the tub.", + "The turn has brought the sink, faucet, and dark mirror into view, but still no bathtub. I will keep rotating left in the same direction to open up more of this bathroom.", + "Now I can see the soap bottle, the counter, and a bright window on the left, which suggests the room extends further in that direction. I will continue turning left toward that opening in hope of revealing the bathtub.", + "The bathtub with its tiled surround has just come into view at the far left, past the toilet and the plant on the side table. I will turn left again to bring it closer to the center of my view before moving.", + "The tub and its shower curtain are now clearly visible down the room, slightly left of my heading. One more left turn should line my heading up with the tub alcove so I can walk straight to it.", + "The bathtub is now roughly ahead of me across an open stretch of tile with nothing blocking the way. I will step forward to close the distance toward it.", + "The tub rim and its faucet are noticeably larger now, so my forward walk is closing the gap. The floor ahead is still clear, so I will keep advancing toward the tub alcove.", + "I am right at the alcove now, but the tub sits to the right of my heading while the curtain and window fill the center. I will turn right to face the bathtub directly before taking a final step.", + "The bathtub now sits clearly ahead of me, centered under the tiled wall with its faucet and shower fixtures in view. I am still a step or two short of standing right at its rim, so I will walk forward to close that last gap. This should bring me directly alongside the tub.", + "The bathtub is directly in front of me at arm's length, filling the lower view beside its spout. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000898_y001650_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000898_y001650_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2d62288b2d1e038673db783e84ca301836ce5d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000898_y001650_z000468_t0_a/infos.json @@ -0,0 +1,56 @@ +{ + "Instruction": "Navigate to the washing powder container on top of the washing machine.", + "Type": 0, + "Start_Pose": [ + 897.851, + 1649.736, + 468.15, + 0.0, + 167.596, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 897.851, + 1649.736, + 468.15, + 0.0, + 167.596, + -0.0 + ], + [ + 774.93, + 1676.771, + 468.15, + 0.0, + 167.596, + -0.0 + ], + [ + 652.009, + 1703.806, + 468.15, + 0.0, + 167.596, + -0.0 + ], + [ + 652.009, + 1703.806, + 468.15, + 0.0, + 167.596, + -0.0 + ] + ], + "Rationale": [ + "From the bathroom doorway I can see the washing machine ahead on the left side of the room, with a small box sitting on its top surface next to the shelving unit. My heading already points down the open tile floor toward it, so no turn is needed yet. I will move forward to close the distance and bring that container into clearer view.", + "The washing machine and the small box on its top are now noticeably larger and closer to the center left of my view, confirming my heading is good. I am still a couple of steps short of standing beside the machine. I will step forward again to finish closing that remaining gap.", + "The washing powder box on top of the washing machine is directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000907_y002131_z000265_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000907_y002131_z000265_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf99ba31c0632ea00b3817a36a8dac38d106e56f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000907_y002131_z000265_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search the house and walk to the sink in the kitchen.", + "Type": 1, + "Start_Pose": [ + 906.503, + 2131.103, + 265.116, + 0.0, + 150.672, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 906.503, + 2131.103, + 265.116, + 0.0, + 150.672, + -0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + 175.672, + -0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + -159.328, + 0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + -134.328, + 0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + -109.328, + 0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + -84.328, + 0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + -59.328, + 0.0 + ], + [ + 906.503, + 2131.103, + 265.116, + 0.0, + -34.328, + 0.0 + ], + [ + 1008.874, + 2081.185, + 193.547, + 0.0, + -34.328, + 0.0 + ], + [ + 1111.796, + 2027.361, + 168.15, + 0.0, + -34.328, + 0.0 + ], + [ + 1215.733, + 1956.386, + 168.15, + 0.0, + -34.328, + 0.0 + ], + [ + 1319.67, + 1885.41, + 168.15, + 0.0, + -34.328, + 0.0 + ], + [ + 1419.705, + 1815.29, + 168.15, + 0.0, + -34.328, + 0.0 + ], + [ + 1419.705, + 1815.29, + 168.15, + 0.0, + -34.328, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a blank wall on my left and a flight of stairs rising ahead, with no kitchen counter or sink anywhere in view. I will turn right to begin a consistent scan of the surrounding space for a kitchen area.", + "The view now shows more of the staircase with a wooden balustrade entering on the right, but still no kitchen surfaces. I will keep rotating right in the same direction to bring the open part of the house into view.", + "Past the railing on the right I can now glimpse a lit room with a chandelier, a stool, and pale cabinetry, which suggests the living area of the ground floor opens that way. I will continue turning right to reveal more of that space and look for a sink.", + "The opened room shows a sofa, a television, curtains, and windows, so this is a living area rather than the kitchen. I will keep scanning to the right, since adjoining service spaces usually lie further along this open floor.", + "I see the living room with bookshelves, and at the right edge a brighter zone with what looks like a worktop and cabinetry beyond a partition. I will turn right again to bring that promising counter area fully into view.", + "The right side of my view now clearly shows a kitchen with white wall cabinets, a refrigerator, a dishwasher, and a faucet over a counter, which matches the sink I need to reach. I will turn right once more to place that kitchen ahead of me instead of off to the side.", + "The kitchen with its counter, faucet, refrigerator, and range is now well inside my view, though still set a little right of centre behind the pillar. I will turn right a final step to line my heading up with the open floor leading to that sink counter.", + "The kitchen is now centred ahead of me, with the counter, faucet, and refrigerator across the open floor and no furniture blocking the route. I will walk forward to close the distance toward the sink.", + "The kitchen counter run is now clearly ahead of me, with the sink and faucet visible between the dishwasher and the refrigerator. The floor between me and that counter is open, so I will keep walking forward to close the remaining distance to the sink.", + "The sink basin and faucet are larger in view now, confirming I am heading straight toward the target counter. I am still several steps away from it, so I will continue advancing.", + "The counter with the double basin and faucet now fills much of the view slightly left of center, so my heading is still good. I am not yet close enough to stand at the sink, so I will take another step forward.", + "The sink is close in front of me, with the faucet and both basins plainly in view above the lower cabinets. One more step forward should bring me right up to the counter edge at the sink.", + "I am standing directly at the kitchen sink, with its faucet and both basins immediately in front of me. The task is complete, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000916_y001955_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000916_y001955_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..841ddbc2936834d47c9631f317fb093bd112c1c3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000916_y001955_z000168_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move towards the tall cabinet next to the TV stand.", + "Type": 0, + "Start_Pose": [ + 916.192, + 1955.352, + 168.15, + 0.0, + -109.455, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 916.192, + 1955.352, + 168.15, + 0.0, + -109.455, + 0.0 + ], + [ + 916.192, + 1955.352, + 168.15, + 0.0, + -134.455, + 0.0 + ], + [ + 828.047, + 1865.514, + 168.15, + 0.0, + -134.455, + 0.0 + ], + [ + 744.324, + 1831.079, + 168.15, + 0.0, + -134.455, + 0.0 + ], + [ + 744.324, + 1831.079, + 168.15, + 0.0, + -109.455, + 0.0 + ], + [ + 691.184, + 1757.477, + 169.113, + 0.0, + -109.455, + 0.0 + ], + [ + 669.954, + 1639.88, + 169.113, + 0.0, + -109.455, + 0.0 + ], + [ + 669.954, + 1639.88, + 169.113, + 0.0, + -134.455, + 0.0 + ], + [ + 669.954, + 1639.88, + 169.113, + 0.0, + -159.455, + 0.0 + ], + [ + 570.719, + 1586.1, + 169.113, + 0.0, + -159.455, + 0.0 + ], + [ + 570.719, + 1586.1, + 169.113, + 0.0, + -159.455, + 0.0 + ] + ], + "Rationale": [ + "The TV stand and the tall pale cabinet beside it sit far over on my left, mostly cut off at the edge of what I can see, while my heading points across the room toward the window. Turning left should bring that cabinet and the TV unit fully in front of me so I can set a clean approach line.", + "The tall cabinet now stands clearly ahead and slightly left, right next to the TV stand and its rug, with open wooden floor between me and it. Since my heading is roughly on target and nothing blocks the near floor, I will move forward to close the large gap.", + "The TV, its stand, and the tall cabinet beside it have grown noticeably larger, so my heading is still carrying me toward the target. There is still several steps of open floor before the rug, so another forward step should keep shrinking the distance.", + "I am now close to the seating area, and the small round side table sits directly on my forward line on the rug, while the cabinet stands off to the right of the TV against the far wall. Turning right should point me down the open floor lane beside the rug so I can continue toward the cabinet's side rather than into the table.", + "With my heading now down the clear stretch of floor, the tall cabinet stands close on my left beside the TV stand and the table is out of my path. Moving forward should bring me level with the cabinet along the wall.", + "The cabinet is now at close range on my left, and there is still open floor between me and the wall section ahead. One more forward step should place me right alongside the cabinet before I reorient toward it.", + "I have come in very close and now face the blank wall panel with the small hanging picture, so the cabinet has slipped out of sight to my left. Turning left should swing my heading back toward the cabinet standing beside the TV stand.", + "The tall cabinet has come back into sight but sits off toward my left, with the wall and picture still taking up the middle. A second left turn should center the cabinet in front of me for a final short approach.", + "The tall cabinet now stands centered ahead of me, right beside the TV stand and its screen on my left, so my heading is aligned with the target. There is still open floor between me and its base, so I will move forward to close that remaining gap and bring the cabinet within reach.", + "The tall cabinet's paneled door and knob fill my view directly ahead at close range. The task is complete, so I stop here rather than crowding the cabinet further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000940_y002081_z000244_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000940_y002081_z000244_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..197c15eca1452603fbc6253cfc6d2402a2ea3bf3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000940_y002081_z000244_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the room and go to the kitchen sink.", + "Type": 1, + "Start_Pose": [ + 940.463, + 2081.037, + 243.624, + -0.301, + -127.044, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 940.463, + 2081.037, + 243.624, + -0.301, + -127.044, + 0.0 + ], + [ + 940.463, + 2081.037, + 243.624, + -0.301, + -102.044, + 0.0 + ], + [ + 940.463, + 2081.037, + 243.624, + -0.301, + -77.044, + 0.0 + ], + [ + 940.463, + 2081.037, + 243.624, + -0.301, + -52.044, + 0.0 + ], + [ + 1013.718, + 2029.021, + 279.191, + -0.301, + -52.044, + 0.0 + ], + [ + 1086.272, + 1971.146, + 168.15, + -0.301, + -52.044, + 0.0 + ], + [ + 1169.258, + 1895.351, + 168.149, + -0.301, + -52.044, + 0.0 + ], + [ + 1248.933, + 1799.599, + 168.149, + -0.301, + -52.044, + 0.0 + ], + [ + 1248.933, + 1799.599, + 168.149, + -0.301, + -27.044, + 0.0 + ], + [ + 1361.029, + 1742.375, + 168.149, + -0.301, + -27.044, + 0.0 + ], + [ + 1361.029, + 1742.375, + 168.149, + -0.301, + -2.044, + 0.0 + ], + [ + 1419.363, + 1738.517, + 168.149, + -0.301, + -2.044, + 0.0 + ], + [ + 1419.363, + 1738.517, + 168.149, + -0.301, + -2.044, + 0.0 + ] + ], + "Rationale": [ + "From under the stairway I only see a living area with a television, a sofa, and a bright window, with no kitchen counter or sink anywhere in view. I will turn right to begin a consistent scan of the room for the kitchen area.", + "This heading still shows living space, a curtained window and a bookcase, so the kitchen sink is not yet in sight. I will keep rotating right in the same direction to extend the scan past the partition wall.", + "Past the near column I can now glimpse pale kitchen cabinets and a wooden countertop at the right edge of my view, which is a strong cue that the sink is in that space. I will turn right once more to bring that kitchen area into the center of my view.", + "The kitchen is now clearly ahead to my right, with a run of white cabinets, a refrigerator, and a faucet rising over the counter. Since the target is visible, I will walk forward across the open floor to close the distance instead of scanning further.", + "The kitchen counter with its faucet is larger in view but still several paces away beyond the partition column. I will continue walking forward along this clear stretch of floor toward the sink area.", + "I am now inside the kitchen space, with the counter, dishwasher, and faucet along the wall to my right and an exterior door ahead. The floor in front of me is still open, so I will keep advancing to get alongside the sink.", + "The sink basin and faucet are visible on the counter to my right, but I am still short of standing directly at it. I will step forward again to draw level with that section of counter.", + "I have come nearly level with the counter, but my heading points at the entry door while the sink sits at the far right edge of my view. I will turn right to face the counter and bring the sink into the center of my view.", + "The kitchen counter now fills my view with the double basin sink and its faucet just right of center, so the target is confirmed. I will walk forward to close the remaining distance to that counter run.", + "I am now close to the counter, but the sink basin and faucet sit toward the right edge of my view while cabinets dominate the left. Turning right should bring the sink into the center of my heading before I step in.", + "The double sink and faucet are now centered directly ahead of me at counter height. A short step forward should place me right at the sink edge for the goal position.", + "I am standing directly at the kitchen sink, with both basins and the faucet immediately in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000960_y-000387_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000960_y-000387_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f1eb3cfc639a4b867df5bd0eef7586f7a047f9c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000960_y-000387_z000098_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "First move to the short driveway light on the ground closest to you, then continue on to the patio seating area under the umbrella.", + "Type": 3, + "Start_Pose": [ + 959.763, + -386.717, + 98.15, + 0.0, + -71.295, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 959.763, + -386.717, + 98.15, + 0.0, + -71.295, + 0.0 + ], + [ + 1000.125, + -505.928, + 107.783, + 0.0, + -71.295, + 0.0 + ], + [ + 1000.125, + -505.928, + 107.783, + 0.0, + -96.295, + 0.0 + ], + [ + 986.325, + -631.029, + 113.949, + 0.0, + -96.295, + 0.0 + ], + [ + 972.525, + -756.129, + 114.062, + 0.0, + -96.295, + 0.0 + ], + [ + 958.725, + -881.229, + 122.327, + 0.0, + -96.295, + 0.0 + ], + [ + 958.725, + -881.229, + 122.327, + 0.0, + -96.295, + 0.0 + ], + [ + 958.725, + -881.229, + 122.327, + 0.0, + -96.295, + 0.0 + ], + [ + 958.725, + -881.229, + 122.327, + 0.0, + -71.295, + 0.0 + ], + [ + 958.725, + -881.229, + 122.327, + 0.0, + -46.295, + 0.0 + ], + [ + 1045.687, + -972.213, + 128.338, + 0.0, + -46.295, + 0.0 + ], + [ + 1132.648, + -1063.198, + 134.348, + 0.0, + -46.295, + 0.0 + ], + [ + 1219.61, + -1154.182, + 140.359, + 0.0, + -46.295, + 0.0 + ], + [ + 1306.572, + -1245.166, + 146.37, + 0.0, + -46.295, + 0.0 + ], + [ + 1306.572, + -1245.166, + 146.37, + 0.0, + -21.295, + 0.0 + ], + [ + 1423.838, + -1290.874, + 149.855, + 0.0, + -21.295, + 0.0 + ], + [ + 1423.838, + -1290.874, + 149.855, + 0.0, + 3.705, + -0.0 + ], + [ + 1549.434, + -1282.741, + 149.855, + 0.0, + 3.705, + -0.0 + ], + [ + 1675.03, + -1274.609, + 149.855, + 0.0, + 3.705, + -0.0 + ], + [ + 1800.626, + -1266.476, + 149.855, + 0.0, + 3.705, + -0.0 + ], + [ + 1839.828, + -1265.817, + 148.469, + 0.0, + 3.705, + -0.0 + ], + [ + 1839.828, + -1265.817, + 148.469, + 0.0, + 3.705, + -0.0 + ] + ], + "Rationale": [ + "From the foot of the driveway I can see a line of short post lights standing in the grass along its left edge, the nearest one beside the porch hedge. Nothing blocks the concrete ahead, so I walk forward to close the gap toward that row of ground lights.", + "The short ground lights sit off to my left along the lawn edge while my body still faces the garage door straight ahead. I turn left so those low lights come into the middle of my view and I can walk directly at the nearest one.", + "The row of short lights now lies ahead and slightly left, with the nearest post standing where the grass meets the concrete. The path between me and it is flat and open, so I step forward to shorten that distance.", + "The nearest post light has grown larger and drifted toward the lower left of my view, so I am closing on it but not yet beside it. I keep walking forward along the driveway edge to bring it within arm's reach.", + "The closest light post is now clearly separated from the others and stands just ahead at the grass border, its lamp head near waist height in my view. One more step forward should place me right at it.", + "The nearest short light is very close on my left, but its base and the ground around my feet fall below the bottom of my view. I look down to confirm I am standing right at that low light rather than short of it.", + "Looking down, the squat post light stands right at my side where the driveway concrete meets the grass, with the rest of the row trailing behind it. I have reached the short driveway light nearest me, so I mark arriving here and then set off toward the patio table under the umbrella.", + "I am facing the lawn strip and the house wall, which leads nowhere useful now that this light is behind me. The open concrete runs off to my right past the garage, so I turn right to swing my heading back onto that pavement toward the umbrella seating.", + "Facing the garage door straight on leaves no way through, and the open concrete keeps running off to my right past the corner of the building. I will turn right again to bring that side passage and the trees beyond it into my heading toward the umbrella seating.", + "The garage wall is now on my left and the paving stretches ahead along the side of the house toward the fenced yard. I will walk forward on this open concrete to close on the shaded seating area beyond the trees.", + "Past the shrubs on the right I can now make out a dark umbrella canopy and a chair in the yard ahead. The path along this wall runs straight toward it, so I will keep walking forward.", + "The umbrella, table and chairs are clearly resolved on my right, still some distance away across the paving. Another step forward along this wall should shorten the gap to that seating area.", + "The wall on my left is crowding my view and the seating has slipped behind the foliage at the right edge, but the paved walk still continues straight ahead toward the fenced yard. I will advance again to clear this corner of the building.", + "I have come far enough along the siding that the walkway opens out to my right, where a chair and the pale canopy edge are showing. Turning right should put the patio squarely in front of me instead of off at the edge of my view.", + "The table under the open umbrella and its chairs now sit ahead of me across the paving, with the white picket fence behind them. I will walk forward along this clear stretch of concrete to close the remaining distance.", + "The umbrella and its table sit to the right of my heading, while the paving straight ahead only leads past them along the fence. A small turn right should center that seating so my next steps carry me directly under the canopy.", + "The umbrella with its table and chairs now sits squarely ahead of me down the paved walk between the rock border and the hedge. Nothing blocks that straight run, so I will step forward to close the remaining distance to the seating.", + "The shaded table and its chairs have grown noticeably larger and stay centered in my path along the concrete. I will keep walking straight since the seating area is still a few paces off.", + "The umbrella canopy now spreads wide above the table just ahead, with the chairs clearly separated in front of me. I am close but not yet under the shade, so another step forward should bring me into the seating area.", + "I am at the edge of the patio with the canopy overhead and the tabletop directly before me. A last short step should settle me right at the table within the seating area rather than at its rim.", + "I stand at the table beneath the open umbrella with its chairs around me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000974_y001940_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000974_y001940_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..98b610591424d2e3ccbfb512c2bf74f26dbb7ed1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000974_y001940_z000468_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the plant.", + "Type": 0, + "Start_Pose": [ + 974.153, + 1939.513, + 468.149, + -0.301, + 172.836, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 974.153, + 1939.513, + 468.149, + -0.301, + 172.836, + 0.0 + ], + [ + 849.575, + 1939.839, + 468.149, + -0.301, + 172.836, + -0.0 + ], + [ + 724.997, + 1939.839, + 468.149, + -0.301, + 172.836, + -0.0 + ], + [ + 724.997, + 1939.839, + 468.149, + -0.301, + -162.164, + -0.0 + ], + [ + 605.189, + 1901.09, + 468.149, + -0.301, + -162.164, + -0.0 + ], + [ + 485.455, + 1865.148, + 468.149, + -0.301, + -162.164, + -0.0 + ], + [ + 485.455, + 1865.148, + 468.149, + -0.301, + -162.164, + -0.0 + ] + ], + "Rationale": [ + "From this upstairs landing I can already see a potted plant standing in the far corner of the hallway, slightly right of my heading. The corridor ahead along the railing is clear, so I will move forward to begin closing the distance to it.", + "The plant now appears larger and its pot is clearly visible against the corner wall, so my heading is still usable. The floor between me and it remains unobstructed, so I will continue forward to shorten the gap.", + "The plant has drifted toward the right edge of my view while the blank wall with the framed picture sits straight ahead. I will turn right to bring the plant nearer the center of my heading before advancing again.", + "The plant now sits close to the middle of my view with open floor leading up to its pot. I will move forward along this corrected heading to close the remaining distance.", + "The plant fills much of my view now, but there is still a short stretch of floor before its pot. I will take one more step forward to arrive directly at it.", + "The plant's leaves fill my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000993_y001940_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000993_y001940_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3136b720e035358dd8f75fae07bc2a69d9cc466 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000993_y001940_z000168_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "First go to the television, then go to the sofa.", + "Type": 3, + "Start_Pose": [ + 992.881, + 1939.729, + 168.15, + -0.05, + -170.208, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 992.881, + 1939.729, + 168.15, + -0.05, + -170.208, + 0.0 + ], + [ + 868.856, + 1918.324, + 168.15, + -0.05, + -170.208, + 0.0 + ], + [ + 744.83, + 1896.919, + 168.15, + -0.05, + -170.208, + 0.0 + ], + [ + 620.805, + 1875.514, + 168.15, + -0.05, + -170.208, + 0.0 + ], + [ + 620.805, + 1875.514, + 168.15, + -0.05, + -145.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -145.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -145.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -120.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -95.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -70.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -45.208, + -0.0 + ], + [ + 517.446, + 1803.699, + 168.15, + -0.05, + -20.208, + -0.0 + ], + [ + 635.557, + 1760.223, + 168.996, + -0.05, + -20.208, + -0.0 + ], + [ + 705.945, + 1719.19, + 168.431, + -0.05, + -20.208, + -0.0 + ], + [ + 705.945, + 1719.19, + 168.431, + -0.05, + -20.208, + -0.0 + ] + ], + "Rationale": [ + "From the hallway I can already see the lit television sitting on the low white dresser ahead and slightly to my right, past the doorway. Nothing blocks the wooden floor between us, so I walk straight forward to close that distance first.", + "The television now fills more of my view and its screen detail is clearer, confirming I am gaining ground on it. The floor ahead remains open, so I keep walking forward toward it.", + "The screen is bright and close on my right, with the dresser it stands on clearly in reach of a few more strides. I am still short of it, so I advance again rather than turning yet.", + "My heading has carried me past the television so that it now sits at the right edge of my view while the plain door fills the center. I turn right to bring the screen back in front of me before stepping any closer.", + "The television is now centered in front of me on its dresser, with the shelf above it squarely in view. A short step forward should put me right at it.", + "The television screen fills my view from arm's length, its stand and the dresser top right in front of me. I have reached the television. I mark reaching it, and now I head for the sofa on the far side of the room.", + "Standing this close, the television blocks almost everything and the sofa lies back in the open living area to my right. I turn right to swing my view off the screen and start hunting for the seating.", + "The screen has slid toward my left and the tall wardrobe and the room's open floor are coming into view, but no sofa yet. I turn right again to keep sweeping toward the living area where the seating should be.", + "The television has slid off to my left edge and ahead of me there is only blank wall, a wardrobe and a curtain, so no seating is in view yet. I will keep rotating right to sweep the open part of the room where a sofa is likely to stand.", + "A pale upholstered seat has just appeared at the right edge beside the window, with a low round table on the rug in front of it. I will turn right again to bring that seating fully into the middle of my view before walking toward it.", + "The long sofa now sits in view under the window with the bookcase behind it, but it still leans toward my right side. One more turn right should place it squarely ahead so my approach runs straight at it.", + "The sofa is centered in front of me now, with clear floor between my position and its front edge. I will walk forward to close that gap.", + "The sofa now fills the lower half of my view and its backrest is close, though I am still a short step short of standing right at it. I will advance once more to finish closing on it.", + "The sofa is directly in front of me, its back within arm's reach and filling my view. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..32aae2a1034408ba35ad5da4f8f3552a59baabb5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head to the tree standing near the row of small shrubs.", + "Type": 0, + "Start_Pose": [ + 996.196, + 1078.755, + 135.467, + -0.01, + 14.262, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 996.196, + 1078.755, + 135.467, + -0.01, + 14.262, + 0.0 + ], + [ + 1118.176, + 1109.761, + 137.515, + -0.01, + 14.262, + 0.0 + ], + [ + 1240.156, + 1140.767, + 139.564, + -0.01, + 14.262, + 0.0 + ], + [ + 1362.136, + 1171.773, + 141.612, + -0.01, + 14.262, + 0.0 + ], + [ + 1484.116, + 1202.78, + 143.661, + -0.01, + 14.262, + 0.0 + ], + [ + 1606.096, + 1233.786, + 145.707, + -0.01, + 14.262, + 0.0 + ], + [ + 1606.096, + 1233.786, + 145.707, + -0.01, + -10.738, + -0.0 + ], + [ + 1729.751, + 1210.336, + 144.188, + -0.01, + -10.738, + -0.0 + ], + [ + 1853.406, + 1186.886, + 142.669, + -0.01, + -10.738, + -0.0 + ], + [ + 1977.061, + 1163.436, + 141.149, + -0.01, + -10.738, + -0.0 + ], + [ + 1977.061, + 1163.436, + 141.149, + -0.01, + -10.738, + -0.0 + ] + ], + "Rationale": [ + "From the porch area I can see a single leafy tree standing on the lawn ahead, just left of center, with a row of trimmed shrubs lined along the low wall and picket fence behind it. That matches the tree I need to reach, so I will move forward across the grass to begin closing the distance.", + "The tree and the shrub row behind it now fill more of my view, confirming I am heading toward the right target. The lawn in front of me is still clear, so I will keep moving forward.", + "The tree trunk is clearly ahead and slightly left, and the shrubs beside the fence are becoming distinct, so the distance is still too great to stop. I will continue forward along this heading.", + "The canopy now spreads across the upper part of my view and the shrub row runs along the wall to its right, so I am well inside the yard but not yet at the trunk. Another forward step should bring me closer to the base of the tree.", + "The trunk is close on my left side and the shrubs stretch along the wall ahead, so I still have room to advance before stopping. I will move forward again to shorten the remaining gap.", + "The tree trunk has drifted to the far left edge of my view while my heading points along the fence, so I am no longer facing the target squarely. I will turn left to bring the trunk and the shrub row back toward the center of my view.", + "After turning, the trunk sits near the center of my view with the shrub row running behind it along the low wall, so my heading is now aligned with the target. I will move forward to close the remaining distance.", + "The trunk is now large and near the middle of my view, and the shrubs along the wall are close enough to see individually, but I am still a step or two short of standing at the tree. I will advance once more to finish closing in.", + "The target tree's trunk now rises just left of center in front of me, with the row of trimmed shrubs lining the low wall directly behind it. I am still a couple of steps short of standing beside that trunk, so I will move forward once more to close the last of the gap.", + "The tree trunk stands right beside me in the near foreground, with the row of small shrubs immediately alongside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c406d2fcb69ee67b17b087c23ae3c3fb369e4be2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000996_y001079_z000135_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the wicker basket near the tree standing near the row of small shrubs.", + "Type": 5, + "Start_Pose": [ + 996.196, + 1078.755, + 135.467, + -0.01, + 14.262, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2020.574, + 1141.368, + 85.24, + 90, + -5.738, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 996.196, + 1078.755, + 135.467, + -0.01, + 14.262, + 0 + ], + [ + 1118.176, + 1109.761, + 137.515, + -0.01, + 14.262, + 0.0 + ], + [ + 1240.156, + 1140.767, + 139.564, + -0.01, + 14.262, + 0.0 + ], + [ + 1362.136, + 1171.773, + 141.612, + -0.01, + 14.262, + 0.0 + ], + [ + 1484.116, + 1202.78, + 143.661, + -0.01, + 14.262, + 0.0 + ], + [ + 1484.116, + 1202.78, + 143.661, + -0.01, + -10.738, + -0.0 + ], + [ + 1607.771, + 1179.33, + 142.114, + -0.01, + -10.738, + -0.0 + ], + [ + 1731.426, + 1155.88, + 140.595, + -0.01, + -10.738, + -0.0 + ], + [ + 1855.081, + 1132.43, + 139.076, + -0.01, + -10.738, + -0.0 + ], + [ + 1855.081, + 1132.43, + 139.076, + 0.0, + -10.738, + 0.0 + ], + [ + 1855.081, + 1132.43, + 139.076, + 0.0, + -10.738, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 2020.574, + 1141.368, + 85.24, + 90.0, + -5.738, + 0.0 + ], + [ + 1858.46, + 1153.524, + 108.393, + -28.202, + 39.406, + 1.862 + ], + [ + 1858.46, + 1153.524, + 108.393, + -28.202, + 39.406, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1026.3, + 903.0, + 780.4, + 659.1, + 540.0, + 540.0, + 414.5, + 289.5, + 165.7, + 21.4, + 21.4 + ], + "Rationale": [ + "From the edge of the lawn I can see the round wicker basket resting against the low wall beneath the young tree, with the clipped shrubs lined up beside it. It is still far across the grass, so I will walk forward along the open lawn to close that gap.", + "The basket by the tree trunk has grown slightly larger and stays roughly ahead of me, confirming my heading is good. I will keep walking forward across the lawn to shorten the remaining distance.", + "The tree and the wicker basket at its base are now clearly nearer, sitting just left of my straight-ahead direction. Nothing blocks the grass between us, so another forward step is the simplest way to keep closing in.", + "The basket leaning against the low brick wall under the tree is much larger in view but still several strides away, too far to reach. I will advance again over the open grass before worrying about fine alignment.", + "The wicker basket now sits noticeably left of my straight-ahead direction, so walking on would carry me past it along the fence. I will turn left to bring the basket and its tree into the center of my view before continuing.", + "The turn has centered the basket and the tree ahead of me, with the shrub row behind them. With the heading now correct, I will walk straight forward to close the remaining distance.", + "The basket is directly in front of me and clearly larger, but still beyond arm's reach at the foot of the tree. I will step forward again to get close enough to attempt a grasp.", + "The wicker basket now fills much of the lower center of my view, right beside the tree trunk, yet it looks like one short stride away. I will move forward once more so it should come within reach for picking.", + "The wicker basket now fills the lower part of my view, right beside the tree trunk that rises in front of the clipped shrub row along the low wall. Nothing stands between me and it, so it should be within grasping range. I will reach out and try to pick it up.", + "The wicker basket is held in my hands rather than resting on the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001038_y000961_z000128_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001038_y000961_z000128_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e99437a946f530b48652c74ab3612cad3c1f341f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001038_y000961_z000128_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Walk up the flag-decorated porch and open the white front door.", + "Type": 4, + "Start_Pose": [ + 1037.877, + 960.718, + 127.668, + 0.0, + 60.382, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1037.877, + 960.718, + 127.668, + 0.0, + 60.382, + 0.0 + ], + [ + 1100.078, + 1070.132, + 134.896, + 0.0, + 60.382, + -0.0 + ], + [ + 1100.078, + 1070.132, + 134.896, + 0.0, + 35.382, + -0.0 + ], + [ + 1202.692, + 1143.008, + 139.711, + 0.0, + 35.382, + -0.0 + ], + [ + 1295.21, + 1206.445, + 173.976, + 0.0, + 35.382, + -0.0 + ], + [ + 1295.21, + 1206.445, + 173.976, + 0.0, + 60.382, + -0.0 + ], + [ + 1295.21, + 1206.445, + 173.976, + 0.0, + 85.382, + -0.0 + ], + [ + 1305.343, + 1331.896, + 161.048, + 0.0, + 85.382, + -0.0 + ], + [ + 1315.337, + 1453.081, + 165.15, + 0.0, + 85.382, + -0.0 + ], + [ + 1315.337, + 1453.081, + 165.15, + 0.0, + 85.382, + -0.0 + ], + [ + 1315.337, + 1453.081, + 165.15, + 0.0, + 85.382, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the lawn I can see the covered porch with the hanging flag and a white front door set back under the roof, but I am still far out on the grass. I will move forward to close that distance and get the porch entrance and its walkway within workable range.", + "I am now near the front of the porch, and the concrete walkway with the potted plant that leads to the porch steps runs off to my left. I will turn left to face along that walkway so I can approach the step-up cleanly, keeping the white door off to my right.", + "The walkway toward the porch step is now straight in front of me with the white door visible to the right under the roof. I will move forward along this open path since nothing blocks the way to the deck edge.", + "The porch decking and railing post are close now, and the white door with its brass handle sits just to my right. I will advance once more to bring myself level with the door area before turning to face it.", + "My heading is now aimed along the porch and past the entrance, leaving the white door pushed to the far right edge of my view. I will turn right to swing the door back toward the center of my view for a straight approach.", + "The white door and its sidelights are back in view but still sitting right of center, so I am not squared up with it yet. I will turn right again to place the door directly ahead of me before closing in on the handle.", + "The white front door is now centered ahead with the flowering vine and lamp beside it, and the porch boards between us are clear. I will move forward to close that remaining gap toward the door.", + "The door fills most of my view and its brass handle and deadbolt are plainly visible slightly right of center, though I may still be a step short of contact range. I will move forward once more so the handle should be close enough to operate.", + "I am now right against the white front door with its brass deadbolt and handle filling my view at arm's reach. This is close enough to grip the latch, so I will attempt to open the door and it should swing inward.", + "The white front door stands open with the interior room visible ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001050_y001569_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001050_y001569_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..329bf5b911755fbfd5726b56aaac397dc0a4a024 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001050_y001569_z000468_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the white paneled door immediately to your left.", + "Type": 4, + "Start_Pose": [ + 1050.021, + 1568.845, + 468.15, + 0.0, + 89.068, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "TurnLeft", + "OpenDoor", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1050.021, + 1568.845, + 468.15, + 0.0, + 89.068, + 0.0 + ], + [ + 1052.068, + 1694.687, + 468.15, + 0.0, + 89.068, + -0.0 + ], + [ + 1052.068, + 1694.687, + 468.15, + 0.0, + 64.068, + -0.0 + ], + [ + 1096.266, + 1807.884, + 468.15, + 0.0, + 64.068, + -0.0 + ], + [ + 1096.266, + 1807.884, + 468.15, + 0.0, + 64.068, + -0.0 + ], + [ + 1096.266, + 1807.884, + 468.15, + 0.0, + 39.068, + -0.0 + ], + [ + 1096.266, + 1807.884, + 468.15, + 0.0, + 39.068, + -0.0 + ], + [ + 1100.802, + 1879.624, + 468.15, + 0.0, + 39.068, + -0.0 + ], + [ + 1100.802, + 1879.624, + 468.15, + 0.0, + 14.068, + -0.0 + ], + [ + 1100.802, + 1879.624, + 468.15, + 0.0, + 14.068, + -0.0 + ], + [ + 1100.802, + 1879.624, + 468.15, + 0.0, + 14.068, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door I need is set into the wall on my left, but it is still several steps ahead of me down this landing. I will move forward along the open floor beside the stair railing to bring its handle within reach. The corridor ahead looks clear, so this advance should shorten the distance to the door.", + "I am now beside the paneled door, and its brass knob and lever sit off to my left edge rather than in front of me. I will turn left so the door face and its handle come toward the center of my view. Squaring up on it should give me a usable line for reaching the handle.", + "The paneled door now fills the left portion of my view with its knob and lever clearly visible, but I am still standing back from it. I will step forward to close the remaining gap so the handle is within arm's reach. Nothing blocks the floor between me and the door frame.", + "The door is right in front of me now, close enough that its panels and the brass knob with the lever handle dominate my view. I will attempt to open it by operating that handle. If my angle on the latch is good, the door should swing free.", + "My attempt on the handle left the door exactly as it was, still shut with the same panels and latch in front of me, so my facing is probably not squared on the latch. I will turn left to bring the handle more fully into the center of my view. Squared on the latch I would at least be pulling from the right line.", + "My previous attempt on this white paneled door left it firmly shut, so I have turned to square up on the handle side, which now sits clearly at the right of the panel in front of me. From this straighter heading the lever and lock face me directly, so I will try the opening interaction again and hope the grip registers this time.", + "The door still reads as closed after that second attempt, with the lever and deadbolt unchanged in front of me, so distance rather than heading is the likely problem. I will step forward to close the remaining gap and bring the handle within reliable reach.", + "Now that I am close, my view is dominated by the door frame edge and the wall light switch, and the lever has slipped out of sight past the left side. I will turn left to swing the handle and its panel back into the center of my view for a properly aimed interaction.", + "The lock cylinder and the brass lever are now filling the view directly ahead at close range, which is the alignment my earlier attempts lacked. I will trigger the opening interaction here, and this framing should give the latch a solid engagement.", + "The door now stands open, revealing the bedroom with its bed and window beyond the frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001064_y-000063_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001064_y-000063_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..253d9fedf87f3f46c5aa398e779ca2a23d2045c7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001064_y-000063_z000098_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Start by going to the mailbox, then head over to the trash can.", + "Type": 3, + "Start_Pose": [ + 1063.866, + -62.781, + 98.15, + 0.0, + 106.986, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1063.866, + -62.781, + 98.15, + 0.0, + 106.986, + -0.0 + ], + [ + 1063.866, + -62.781, + 98.15, + 0.0, + 81.986, + -0.0 + ], + [ + 1081.413, + 61.849, + 98.15, + 0.0, + 81.986, + -0.0 + ], + [ + 1098.959, + 186.479, + 98.15, + 0.0, + 81.986, + -0.0 + ], + [ + 1116.506, + 311.109, + 98.15, + 0.0, + 81.986, + -0.0 + ], + [ + 1116.506, + 311.109, + 98.15, + 0.0, + 56.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + 56.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + 56.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + 81.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + 106.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + 131.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + 156.986, + -0.0 + ], + [ + 1185.079, + 416.646, + 108.852, + 0.0, + -178.014, + 0.0 + ], + [ + 1059.296, + 412.284, + 108.852, + 0.0, + -178.014, + 0.0 + ], + [ + 933.513, + 407.923, + 108.852, + 0.0, + -178.014, + 0.0 + ], + [ + 807.729, + 403.561, + 108.852, + 0.0, + -178.014, + 0.0 + ], + [ + 681.946, + 399.199, + 108.852, + 0.0, + -178.014, + 0.0 + ], + [ + 591.674, + 389.779, + 106.737, + 0.0, + -178.014, + 0.0 + ], + [ + 591.674, + 389.779, + 106.737, + 0.0, + -178.014, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see the white mailbox on its wooden post at the far left edge of my view, near the front walk of the pale house. My heading is aimed too far right of it to walk straight there, so I will turn left to bring that post toward the center of my path.", + "The mailbox now sits ahead along the grass strip beside the hedge, still far off across open sidewalk. Nothing blocks the ground between us, so I will walk forward to close that distance.", + "The mailbox has grown noticeably larger and its post is clearly planted at the edge of the walkway ahead of me. The route stays open, so I will keep walking to shorten the gap.", + "The lettering on the mailbox is readable now and the red flag stands out above it, but I am still a few paces short of standing at it. I will step forward again to draw level with the post.", + "The mailbox has drifted to the left side of my view as I advanced, so walking straight would carry me past it. I will turn left to put the post squarely in front of me before covering the last stretch.", + "The mailbox and its post are centered ahead of me now, just beyond the paving where the front walk meets the sidewalk. One more step forward should bring me right up beside it.", + "The mailbox fills the near left of my view, its red flag and wooden post within arm's reach. I am standing at it, so I mark reaching this mailbox and set off for the wheeled trash can waiting at the curb down the street.", + "The mailbox still crowds the left of my view, and the trash bin I want stands back along the curb behind my right shoulder. I will turn right to swing my heading away from this post and toward that side of the street.", + "The mailbox post now sits at the very edge of my view, so I am done with it and need my other destination, the curbside trash can, which is not in front of me. I will keep rotating right to sweep the hedge line and the walk toward the street.", + "My view is filled with the hedge and the porch of the house, with no trash can anywhere along it. I will turn right again to carry the sweep further down the property line toward the road.", + "The hedge is now angling away to my left and the driveway with the parked car and a large tree is opening on the right, so the curb lies further around in that direction. Another right turn should bring the roadside strip where a bin would stand into view.", + "I can now see the grey wheeled trash can standing at the curb ahead on the right, past the tree trunks. One more turn right should put it squarely in front of me before I walk down.", + "The trash can sits ahead of me at the curb with the open road beside it and clear grass and pavement in between. I will step forward along this line to close the gap.", + "The bin has grown larger and stays near the middle of my view, confirming my heading down the curb is right. I will keep walking forward toward it.", + "The trash can is close now, its lid and the ball at its base clearly visible just ahead at the curb. Nothing blocks the pavement, so I will advance again.", + "The bin fills much of the lower right of my view but I am still a stride short of standing beside it. One more step forward should bring me right up to it.", + "The grey wheeled bin now fills the lower center of my view at the curb edge, its open mouth just ahead of me. One more short step forward should bring me right up against it rather than leaving a gap.", + "The open trash can is directly beneath me at arm's reach, filling the bottom of my view. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001074_y002050_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001074_y002050_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f181903bf187dd4fabcf17e2a23ee1083187abf7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001074_y002050_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the white paneled door at the far end of the kitchen.", + "Type": 4, + "Start_Pose": [ + 1074.341, + 2050.025, + 168.15, + 0.0, + -38.778, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1074.341, + 2050.025, + 168.15, + 0.0, + -38.778, + 0.0 + ], + [ + 1172.458, + 1971.199, + 168.15, + 0.0, + -38.778, + 0.0 + ], + [ + 1172.458, + 1971.199, + 168.15, + 0.0, + -63.778, + 0.0 + ], + [ + 1228.069, + 1858.292, + 168.15, + 0.0, + -63.778, + 0.0 + ], + [ + 1283.68, + 1745.385, + 168.15, + 0.0, + -63.778, + 0.0 + ], + [ + 1339.29, + 1632.479, + 168.15, + 0.0, + -63.778, + 0.0 + ], + [ + 1339.29, + 1632.479, + 168.15, + 0.0, + -88.778, + 0.0 + ], + [ + 1339.29, + 1632.479, + 168.15, + 0.0, + -88.778, + 0.0 + ], + [ + 1341.767, + 1551.624, + 168.15, + 0.0, + -88.778, + 0.0 + ], + [ + 1341.767, + 1551.624, + 168.15, + 0.0, + -88.778, + 0.0 + ], + [ + 1341.767, + 1551.624, + 168.15, + 0.0, + -88.778, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the entry of the kitchen I can see a white paneled door set between two narrow side windows at the far end of the room, past the counter and cabinets. The open floor ahead is clear, so I will move forward to close some of that distance before working out my final heading.", + "The target door now sits well off to the left edge of my view, while my heading still points down the cabinet run to the right. I will turn left so the door comes into the center of my view and my forward path leads toward it rather than into the counters.", + "After turning, the white paneled door with its two side windows is roughly ahead of me with clear floor between us. I will move forward along this heading to keep shortening the distance to the door.", + "The door and its framing now fill a large part of my view, and I can make out the brass handle on its left side, but I am still too far back to act on it. Another step forward should bring me into reaching distance of the handle.", + "I am now close to the paneled door, with its handle and the right-hand sidelight clearly in front of me, though a short gap of floor remains. I will step forward once more to stand directly at the door before attempting to open it.", + "The white paneled door now fills most of my view but it is skewed to the left, with only its right edge and the side window centered ahead of me. I will turn left so the door face and its handle sit squarely in front of me for a clean interaction.", + "The paneled door is centered in front of me now, with the brass lever handle clearly visible at my left. I will attempt to open it from here, since the latch appears to be within reach.", + "My attempt at the handle left the door still shut, so distance is the likely problem rather than my heading. I will step forward to close the remaining gap and put the latch clearly within interaction range.", + "The door panels now fill my whole view, so I am pressed close against the leaf after my earlier attempt failed from farther back. I will try the opening action again from this closer stance, which should now be within range of the latch.", + "I see the door swung wide, with the porch, walkway and yard open ahead of me. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001077_y001940_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001077_y001940_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f9bc42e3d8d9419140f747ea5722d71a4c53ade --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001077_y001940_z000168_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Go to the door ahead, then navigate to the bottom of the stairs.", + "Type": 3, + "Start_Pose": [ + 1077.007, + 1940.156, + 168.15, + -0.05, + 160.032, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1077.007, + 1940.156, + 168.15, + -0.05, + 160.032, + 0.0 + ], + [ + 958.714, + 1983.136, + 168.15, + -0.05, + 160.032, + -0.0 + ], + [ + 958.714, + 1983.136, + 168.15, + -0.05, + -174.968, + -0.0 + ], + [ + 833.34, + 1972.097, + 168.15, + -0.05, + -174.968, + -0.0 + ], + [ + 707.966, + 1961.058, + 168.15, + -0.05, + -174.968, + -0.0 + ], + [ + 582.593, + 1950.018, + 168.15, + -0.05, + -174.968, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + -174.968, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + -174.968, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 160.032, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 135.032, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 110.032, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 85.032, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 60.032, + -0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 35.032, + 0.0 + ], + [ + 457.219, + 1938.979, + 168.15, + -0.05, + 10.032, + 0.0 + ], + [ + 581.153, + 1960.903, + 168.15, + -0.05, + 10.032, + 0.0 + ], + [ + 705.088, + 1982.828, + 168.15, + -0.05, + 10.032, + 0.0 + ], + [ + 828.273, + 1988.406, + 168.15, + -0.05, + 10.032, + 0.0 + ], + [ + 951.631, + 1988.41, + 168.15, + -0.05, + 10.032, + 0.0 + ], + [ + 951.631, + 1988.41, + 168.15, + -0.05, + 35.032, + 0.0 + ], + [ + 951.631, + 1988.41, + 168.15, + -0.05, + 60.032, + 0.0 + ], + [ + 951.631, + 1988.41, + 168.15, + -0.05, + 60.032, + 0.0 + ] + ], + "Rationale": [ + "From the entry hall I can see a white panelled door set in the far wall past the staircase, and the staircase itself runs up along my left. The floor between me and that door is clear, so I will walk forward to close the gap toward the door first.", + "Now that I am further along the hall, the panelled door sits well to the right of my heading while the stair stringer fills the left of my view. A small turn to the right should bring the door closer to the centre of my path before I keep walking.", + "The door is now roughly ahead of me with the open living area on the right and the stair wall on the left. Nothing blocks the stretch of floor between us, so I will step forward to shorten the distance to it.", + "The door has grown larger and its brass handle is becoming distinct, confirming I am tracking straight at it. I still have several strides of clear floor, so I will keep walking forward.", + "The door and its frame now dominate the middle of my view, with the small framed picture and light switch beside it clearly visible. I am not yet within arm's reach of it, so I will advance again.", + "The door panels now fill almost the whole view and the lever handle is at my own height just right of centre. One more step forward should put me right up at the door.", + "The pale door face is right against me, with its brass lever and deadbolt at the edge of my view. I have arrived at the door. I mark reaching it, then I am heading back along the hall to the bottom of the stairs.", + "Standing this close, the door blanks out my whole view and the staircase lies back behind my left shoulder in the hall I came through. I will turn left to begin swinging my heading away from the door and around toward the stairs.", + "My view is still filled by the white door panel directly in front of me, so nothing of the room is usable from this heading. Having arrived at the door, I now need to face back into the house toward the staircase, and I will keep rotating left to swing away from this wall.", + "Only the door jamb and the adjoining wall edge are in front of me, so I still have no line down the interior. I continue turning left to keep sweeping my heading away from the door toward the open floor where the stairs stand.", + "The view is still narrow wall surfaces and a corner strip, with no staircase in sight. I need considerably more rotation before the interior opens up, so I turn left again.", + "I am facing plain wall with no doorway, floor run, or banister to steer by. Another left turn should continue carrying my heading around toward the part of the house where the stairs come down.", + "A wooden railing has just edged into the upper left of my view, the first sign of the staircase since I turned away from the door. Turning left again should bring that railing and the floor beneath it more fully in front of me.", + "The hallway has opened up with the staircase running along the wall to my right and clear floor stretching toward the kitchen. My heading is still angled into the wall, so one more left turn should square me with the corridor I need to walk down.", + "I am now aimed straight down the open hallway, with the staircase and its railing descending along the wall to my right. The floor ahead is unobstructed, so I step forward to close on the point where those steps meet the ground.", + "The staircase on my right has grown noticeably larger and its lower flight is drawing nearer as the hallway continues. I am still short of where the steps reach the floor, so I keep walking forward along this clear stretch.", + "The staircase runs along the wall to my right and its lower flight is still ahead of me, past the open floor. I will walk forward again to draw level with where the steps meet the ground.", + "The lowest treads and a newel post have come into view close on my right, so the foot of the stairs is nearly beside me. Another step forward should place me level with that bottom landing rather than short of it.", + "I am now standing beside the base of the staircase, but my heading points across the kitchen and only the carved newel post edges into the right of my view. Turning right should bring the bottom steps around in front of me.", + "The newel post and rising handrail have swung into the middle of my view, yet the treads themselves are still off to my right. One more turn in the same direction should square me up with the foot of the stairs.", + "The lowest treads and newel post of the staircase stand directly before me at floor level. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001083_y-000562_z000112_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001083_y-000562_z000112_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77215f14b67ffe26dfdab0cc400f26167b2022e1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001083_y-000562_z000112_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "First walk to the porch railing in front of the large window, then go to the patio seating area under the umbrella.", + "Type": 3, + "Start_Pose": [ + 1082.82, + -562.159, + 112.416, + 0.0, + -71.295, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1082.82, + -562.159, + 112.416, + 0.0, + -71.295, + 0.0 + ], + [ + 1123.182, + -681.37, + 113.949, + 0.0, + -71.295, + 0.0 + ], + [ + 1123.182, + -681.37, + 113.949, + 0.0, + -96.295, + 0.0 + ], + [ + 1109.382, + -806.471, + 117.467, + 0.0, + -96.295, + 0.0 + ], + [ + 1095.582, + -931.571, + 125.732, + 0.0, + -96.295, + 0.0 + ], + [ + 1081.782, + -1056.671, + 133.996, + 0.0, + -96.295, + 0.0 + ], + [ + 1067.982, + -1181.771, + 142.261, + 0.0, + -96.295, + 0.0 + ], + [ + 1067.982, + -1181.771, + 142.261, + 0.0, + -121.295, + 0.0 + ], + [ + 1002.605, + -1289.318, + 148.085, + 0.0, + -121.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + -121.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + -121.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + -96.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + -71.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + -46.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + -21.295, + 0.0 + ], + [ + 937.228, + -1396.865, + 148.266, + 0.0, + 3.705, + -0.0 + ], + [ + 1062.824, + -1388.732, + 159.638, + 0.0, + 3.705, + -0.0 + ], + [ + 1188.42, + -1380.599, + 158.567, + 0.0, + 3.705, + -0.0 + ], + [ + 1314.016, + -1372.466, + 155.285, + 0.0, + 3.705, + -0.0 + ], + [ + 1439.612, + -1364.333, + 149.787, + 0.0, + 3.705, + -0.0 + ], + [ + 1565.208, + -1356.2, + 149.787, + 0.0, + 3.705, + -0.0 + ], + [ + 1690.804, + -1348.067, + 149.787, + 0.0, + 3.705, + -0.0 + ], + [ + 1816.4, + -1339.935, + 149.787, + 0.0, + 3.705, + -0.0 + ], + [ + 1816.4, + -1339.935, + 149.787, + 0.0, + 28.705, + -0.0 + ], + [ + 1862.855, + -1313.862, + 148.44, + 0.0, + 28.705, + -0.0 + ], + [ + 1862.855, + -1313.862, + 148.44, + 0.0, + 28.705, + -0.0 + ] + ], + "Rationale": [ + "I am standing at the foot of the driveway with the garage straight ahead and the covered porch with its white railing at the far left edge of my view. Walking forward up the driveway should carry me closer to the house before I swing toward the railed porch and its large window.", + "The garage door fills the middle of my view while the porch railing and the window I want sit off at my left edge, barely in frame. Turning left should bring that railed porch section into the center of my heading so I can walk straight at it.", + "The turn worked, and now the porch with its white railing and the large shuttered window sits clearly in the left half of my view. The paved drive ahead is clear, so I will walk forward to cut down the remaining distance to that railing.", + "The porch posts, the railing and the wide window behind it have grown noticeably larger on my left, so my heading is still good. I will keep walking forward along the open drive to close in on that railing.", + "I am close enough now that the porch railing and the multi-pane window read clearly on my left, with the garage wall passing on my right. Another step forward should bring me level with the railed section rather than stopping short of it.", + "The garage face now dominates the middle of my view, while the porch railing and its window lie to my left and slightly behind that corner. Stepping forward once more should carry me past the corner so the railing opens up beside me.", + "I am beside the garage door now, and the porch railing with the large window has slid to the far left of my view. Turning left should face me squarely down the porch so I can walk in toward the railing in front of that window.", + "The turn lined me up with the porch, and I can see the white railing running along it with the large shuttered window above the decking. The grass strip and walkway ahead are clear, so I will walk forward to reach that railing.", + "The white porch railing and the tall shuttered window above it are just ahead on my left, with the garage wall crowding my right. One more step along this strip of grass should bring me level with the railing beneath that window.", + "The white porch railing stands directly in front of me with the large shuttered window right above it. I am at the railing I was heading for. I mark reaching it and now set off for the patio seating under the umbrella.", + "The railing is right at my feet and the porch fills my view, so nothing here leads onward. Swinging right begins turning me away from the house face toward the open paving beside the garage, where I can find a way to the umbrella seating.", + "Only blank siding and the edge of the porch railing are in front of me now, so my heading is still pinned against the house. I will keep rotating right to bring the open ground beside the garage into view.", + "The siding and the near edge of the garage door still fill my view, leaving no route forward. Another turn to the right should carry my heading past the garage face toward the open pavement.", + "The garage door is now angled across my view and a sliver of paving and greenery is showing at its right edge. Continuing to turn right should open that side yard properly instead of leaving me facing the door.", + "Past the garage wall I can now see the paved walk running back toward a dark umbrella with chairs beneath it, but it sits off to my right. One more turn should put that walkway and the umbrella straight in front of me.", + "The paved walk now runs straight ahead between the garage wall and the plantings, with the umbrella and its seating clearly at the far end. I will walk forward along it to close the distance to that patio.", + "The paved walkway beside the garage wall runs straight ahead, and the shaded table with its chairs sits at the far end of it. Nothing blocks the concrete strip, so I will walk forward to close the distance to that seating.", + "The umbrella and the chairs beneath it have grown noticeably larger, confirming my heading down the path is right. I will keep walking forward along the open concrete toward them.", + "The picket fence and the shaded table are closer now, with the canopy clearly framed ahead of me. The paving continues without obstruction, so another step forward should bring me nearer to that seating.", + "The umbrella now stands well above the table and I can pick out individual chairs around it. Still some paving between me and the seating, so I will advance again.", + "The canopy spreads wide across my view and the tabletop with its chairs is only a short stretch of paving away. I will keep moving forward onto the patio surface.", + "I am nearly at the seating, with the chair backs and table edge just ahead and slightly to my right. One more step forward should place me right at the furniture under the canopy.", + "The table and its chairs have slid to the right edge of my view while the empty walkway fills the left. Turning right should bring the seating back to the center of my heading before I finish closing on it.", + "The round table, its chairs and the umbrella pole now sit squarely in front of me, only a short step away. I will step forward to stand right at the seating beneath the canopy.", + "The umbrella canopy is open right above me and the round table with its chairs is within arm's reach. The patio seating area is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001090_y-000729_z000114_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001090_y-000729_z000114_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a76cd3ab76734e837f5cd065deba55374ed28ce7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001090_y-000729_z000114_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the lamp mounted on the left garage wall.", + "Type": 2, + "Start_Pose": [ + 1090.282, + -728.591, + 113.864, + 0.0, + -82.123, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1090.282, + -728.591, + 113.864, + 0.0, + -82.123, + 0.0 + ], + [ + 1107.531, + -853.262, + 120.32, + 0.0, + -82.123, + 0.0 + ], + [ + 1124.779, + -977.934, + 128.557, + 0.0, + -82.123, + 0.0 + ], + [ + 1124.779, + -977.934, + 128.557, + 0.0, + -107.123, + 0.0 + ], + [ + 1087.723, + -1098.214, + 136.503, + 0.0, + -107.123, + 0.0 + ], + [ + 1050.667, + -1218.495, + 144.449, + 0.0, + -107.123, + 0.0 + ], + [ + 1013.611, + -1338.775, + 153.261, + 0.0, + -107.123, + 0.0 + ], + [ + 981.046, + -1431.069, + 160.772, + 0.0, + -107.123, + 0.0 + ], + [ + 981.046, + -1431.069, + 160.772, + 0.0, + -107.123, + 0.0 + ], + [ + 981.046, + -1431.069, + 160.772, + 0.0, + -107.123, + 0.0 + ] + ], + "Rationale": [ + "Two matching wall lamps flank the garage door, so I fix on the one to the left of the door, the one closer to the covered porch corner. It is still far up the driveway, so I walk straight ahead to close the distance before adjusting my heading.", + "The garage face has grown larger and the lamp beside the left edge of the door is clearer, but I am still out on the open driveway. I keep walking forward along the concrete to gain ground before I angle toward that lamp.", + "From here the lamp I want sits well off to my left, mounted on the siding between the door edge and the porch, while my heading points at the middle of the garage door. I turn left to bring that lamp toward the center of my view so my next steps carry me straight at it.", + "The turn has swung the porch into view and the lamp I want now sits ahead on the siding just left of the garage door frame. With paved ground running that way, I step forward to close on it.", + "The lamp is noticeably larger and holds a steady position ahead of me on the siding beside the door frame, so my heading is good. I continue walking forward across the driveway toward it.", + "The lamp now stands out plainly on the wall panel between the porch column and the garage door, but I am still a few paces short of the siding. I advance again to bring myself right up under it.", + "The lamp fills the upper part of my view, fixed to the narrow strip of siding beside the garage door, and only a short stretch of ground remains. I take one more step forward to stand directly beneath it.", + "I am close enough that the siding fills my whole view and the lamp has passed above my line of sight. I look up to bring the wall lamp back into view and confirm I am standing right beneath it.", + "The wall lamp beside the garage door hangs directly overhead, an arm's length from the siding in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y000014_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y000014_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e74907bba6bc592142b8a27c438c24dff7e65ebc --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y000014_z000098_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Proceed to the trash bin visible on the left sidewalk.", + "Type": 2, + "Start_Pose": [ + 1094.716, + 13.984, + 98.112, + 0.0, + -176.815, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1094.716, + 13.984, + 98.112, + 0.0, + -176.815, + 0.0 + ], + [ + 1094.716, + 13.984, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 977.87, + 60.755, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 861.024, + 107.525, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 861.024, + 107.525, + 98.112, + 0.0, + 133.185, + -0.0 + ], + [ + 774.891, + 199.295, + 98.112, + 0.0, + 133.185, + -0.0 + ], + [ + 688.759, + 291.065, + 98.112, + 0.0, + 133.185, + -0.0 + ], + [ + 688.759, + 291.065, + 98.112, + 0.0, + 133.185, + -0.0 + ] + ], + "Rationale": [ + "Standing in the middle of the road, I see a grey wheeled bin at the curb on my left and another matching one on my right, so the left-hand one beside the hedge and the red parked car is my target. My heading points straight down the street, past it. I will turn left to bring that bin into the center of my view.", + "The grey bin I am heading for now sits ahead and slightly left, at the curb in front of the hedge and the red car. The roadway between us is clear and open. I will walk forward to close that distance.", + "The bin has grown noticeably larger and its wheels are now visible at the curb line, confirming I am closing on it. Nothing blocks the lane in front of me. I will keep walking forward to shorten the remaining gap.", + "I am close now, but the bin sits off to my left front while my heading still runs down the road past it. A small left turn should place it squarely ahead so my next steps carry me straight to it.", + "The bin is now centered ahead of me against the grass strip and curb, with clear asphalt in between. I will step forward to reach it.", + "The bin now fills much of my view and its lid rim and body details are plainly readable, so only a short gap remains. One more step forward should bring me right up beside it.", + "The grey trash bin stands directly beside me at arm's reach on the left sidewalk curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y002119_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y002119_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..797a99dfe689032120f3b9f1a5cd227db2d35ed9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y002119_z000168_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the window on the right side of the doorway.", + "Type": 2, + "Start_Pose": [ + 1095.004, + 2118.719, + 168.15, + 0.0, + -37.865, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1095.004, + 2118.719, + 168.15, + 0.0, + -37.865, + 0.0 + ], + [ + 1194.365, + 2041.466, + 168.15, + 0.0, + -37.865, + 0.0 + ], + [ + 1293.725, + 1964.214, + 168.15, + 0.0, + -37.865, + 0.0 + ], + [ + 1293.725, + 1964.214, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1351.128, + 1852.207, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1408.531, + 1740.201, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1408.531, + 1740.201, + 168.15, + 0.0, + -87.865, + 0.0 + ], + [ + 1413.22, + 1614.43, + 168.15, + 0.0, + -87.865, + 0.0 + ], + [ + 1417.251, + 1565.298, + 168.15, + 0.0, + -87.865, + 0.0 + ], + [ + 1417.251, + 1565.298, + 168.15, + 0.0, + -87.865, + 0.0 + ] + ], + "Rationale": [ + "The exterior door sits in the far wall ahead on my left, flanked by two narrow glazed sidelights, and my target is the slim one immediately to the right of that door. From here it is too far off to judge, so I will walk forward along the open floor beside the kitchen counters to close the distance.", + "The doorway and its pair of slim flanking windows are noticeably larger now, but they remain across the room to my left. The floor ahead is still clear of furniture, so another step forward should bring me near enough to turn toward the door wall.", + "My heading is carrying me down the kitchen counter run while the exterior door and its narrow flanking windows have slipped to the edge of my view on the left. I will turn left to swing that doorway back toward the center of my view so I can walk straight at it.", + "The turn worked, and the door now sits ahead of me with a slim glazed window on either side of its frame. The narrow one on its right is what I want, so I will walk forward toward that wall.", + "I am close enough now to see greenery through the slim window to the right of the door, confirming it as my target. Another step forward should put me almost at that stretch of wall.", + "Standing this near the counter, the countertop and upper cabinets crowd my right while the door and the narrow window beside it have drifted to my left. Turning left should square me with the doorway so the window I want lies straight ahead.", + "The doorway is now squarely in front of me with a slender window on each side, and the one on the door's right shows the yard and porch beyond. I will step forward toward that right-hand window.", + "The narrow window beside the door fills most of my view, with the door panel close on my left, so I am nearly at the wall. One more short step should bring me right up to that window.", + "The glass of the window beside the door fills my view at arm's length, showing the porch rail and yard beyond. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y002119_z000168_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y002119_z000168_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a38ddf08513aaffcc2b212b5c1a75437feb542a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001095_y002119_z000168_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the candelabra near the window on the right side of the doorway.", + "Type": 5, + "Start_Pose": [ + 1095.004, + 2118.719, + 168.15, + 0, + -37.865, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 1424.434, + 1552.671, + 82.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1095.004, + 2118.719, + 168.15, + 0, + -37.865, + 0 + ], + [ + 1194.365, + 2041.466, + 168.15, + 0.0, + -37.865, + 0.0 + ], + [ + 1293.725, + 1964.214, + 168.15, + 0.0, + -37.865, + 0.0 + ], + [ + 1293.725, + 1964.214, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1351.128, + 1852.207, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1408.531, + 1740.201, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1408.531, + 1740.201, + 168.15, + 0.0, + -62.865, + 0.0 + ], + [ + 1408.531, + 1740.201, + 168.15, + 0.0, + -62.865, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1424.434, + 1552.671, + 82.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1424.434, + 1552.671, + 82.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1424.434, + 1552.671, + 82.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1424.434, + 1552.671, + 82.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1424.434, + 1552.671, + 82.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1424.434, + 1552.671, + 82.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1427.256, + 1750.484, + 138.257, + -28.202, + -12.72, + 1.862 + ], + [ + 1427.256, + 1750.484, + 138.257, + -28.202, + -12.72, + 1.862 + ] + ], + "PD_Dist_2D": [ + 654.9, + 540.2, + 431.8, + 431.8, + 308.4, + 188.2, + 21.4, + 21.4 + ], + "Rationale": [ + "From the open floor of this room I can see the exterior doorway ahead on the left wall, with a candelabra standing on the floor beside it near the side window. It is far off across the kitchen, so I will walk straight ahead to close that distance.", + "The door and the candelabra beside it are now noticeably larger, confirming I am heading the right way down the kitchen. The path along the counter run is still clear, so I will keep walking forward to close more of the remaining gap before I refine my heading.", + "The candelabra and the door it stands beside have drifted to the far left edge of my view while my heading points down the counter and refrigerator wall. Walking straight now would carry me past them, so I will turn left to bring the candelabra toward the center of my view.", + "The turn placed the doorway and the candelabra on the floor beside it near the middle-left of my view, so my heading is usable now. The candelabra is still several steps away across open floor, so I will walk forward to get within reach.", + "The candelabra now stands clearly at the base of the side window next to the door, but it is still a bit too far forward and left for a confident grasp. I will take one more step ahead to bring it into close reach.", + "The candelabra with its pale candles is right beside me at the foot of the window next to the doorway, filling the near lower part of my view. Nothing stands between us and my hands are empty, so I will attempt to pick it up now.", + "The candelabra is now held in my hands rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001100_y002003_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001100_y002003_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5b86c98ce938d3893e73d375a03c783d0ae462e0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001100_y002003_z000168_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Explore the house and go to the television.", + "Type": 1, + "Start_Pose": [ + 1099.592, + 2002.592, + 168.15, + 0.0, + 20.344, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + 20.344, + -0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -4.656, + 0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -29.656, + 0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -54.656, + 0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -79.656, + 0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -104.656, + 0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -129.656, + 0.0 + ], + [ + 1099.592, + 2002.592, + 168.15, + 0.0, + -154.656, + 0.0 + ], + [ + 985.846, + 1948.718, + 168.15, + 0.0, + -154.656, + 0.0 + ], + [ + 872.101, + 1894.844, + 168.15, + 0.0, + -154.656, + 0.0 + ], + [ + 758.355, + 1840.969, + 168.15, + 0.0, + -154.656, + 0.0 + ], + [ + 644.61, + 1787.095, + 168.15, + 0.0, + -154.656, + 0.0 + ], + [ + 530.289, + 1735.366, + 169.149, + 0.0, + -154.656, + 0.0 + ], + [ + 530.289, + 1735.366, + 169.149, + 0.0, + -154.656, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a kitchen with cabinets, an oven and a dining table, and no television anywhere in view. Since living areas are more likely to hold a television, I will turn left to begin a steady scan of the room for an opening into another space.", + "The view still shows only kitchen fittings, a refrigerator, dishwasher and counters, with no television present. I will keep rotating left in the same direction to bring the unseen part of the room into view.", + "I can now see an exterior door and a side window at the end of the kitchen counter, but no television in this part of the room. Continuing my left rotation should reveal the wall and any interior opening beyond the door.", + "A wide white partition wall now blocks much of my view on the left, suggesting an adjoining room behind it. I will keep turning left in the same direction to look past that partition for a living space.", + "Past the partition I can see a curtained window and a lighter room opening to the left, which looks like a living area rather than kitchen. I will continue turning left to bring that space fully into view where a television is most likely.", + "I am now looking into a living room with a sofa, floor lamp and curtained window, so this is the right area for a television. I will turn left once more to sweep the remaining wall of this room where a set would usually stand.", + "A television is now visible on a low white dresser across the living room, its screen lit beyond the sofa. I will turn left a little more to center that television in front of me before walking toward it.", + "The television sits on the dresser near the far wall and is now roughly ahead of me, with clear floor between my position and the rug. I will step forward along this heading to close the distance to it.", + "The television is clearly visible ahead on the low white console against the far wall, with open floor between me and it. I will keep walking straight to close that gap, since nothing blocks the direct path past the sofa on my right.", + "The lit television screen now sits closer and nearly centered in my view above the dresser-style stand. Another step forward should continue shrinking the remaining distance without needing any turn.", + "The television and its stand now fill a good part of the view, so my heading is well aligned with the target. I will advance again to get within a close standing distance of the screen.", + "The television is large in front of me now, though I am still a short step back from the console. One more forward step should bring me right up to the screen.", + "The television screen fills my view at arm's length directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001100_y002054_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001100_y002054_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e3c577ec78d1da371dbb4304694121869e2ddd3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001100_y002054_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the area and go to the gas stove beneath the range hood.", + "Type": 1, + "Start_Pose": [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -169.247, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -169.247, + 0.0 + ], + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -144.247, + 0.0 + ], + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -119.247, + 0.0 + ], + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -94.247, + 0.0 + ], + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -69.247, + 0.0 + ], + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -44.247, + 0.0 + ], + [ + 1100.275, + 2054.415, + 168.15, + 0.0, + -19.247, + 0.0 + ], + [ + 1219.099, + 2012.927, + 168.15, + 0.0, + -19.247, + 0.0 + ], + [ + 1219.099, + 2012.927, + 168.15, + 0.0, + 5.753, + -0.0 + ], + [ + 1323.289, + 2003.751, + 168.15, + 0.0, + 5.753, + -0.0 + ], + [ + 1417.254, + 2016.194, + 168.15, + 0.0, + 5.753, + -0.0 + ], + [ + 1417.254, + 2016.194, + 168.15, + 0.0, + 5.753, + -0.0 + ] + ], + "Rationale": [ + "From here I only see the staircase filling the left half and a living room with a TV and armchair ahead, with no kitchen counter or range hood anywhere in sight. I will turn right to begin a consistent scan of the surrounding rooms for the cooking area.", + "The new heading shows more of the living room, a TV stand, a chandelier and a curtained window, but still no cooking appliances. I will keep rotating right in the same direction to extend the sweep toward unseen parts of the floor.", + "I now face the sofa, window and a floor lamp beside a wide structural column, and the column blocks whatever lies further right. Continuing the rightward turn should let me see past that column into the adjoining space.", + "Past the column I can see an open floor leading to a white entry door and a small window, but no kitchen fixtures yet. I will keep turning right to reveal the wall on that side of the room.", + "A kitchen run has come into view with a sink, dishwasher and upper cabinets along the right wall, so the cooking area is very likely just further along this counter. I will continue turning right to bring the rest of that counter and any range hood into view.", + "More of the kitchen is exposed now, with the refrigerator, tall cabinets and what looks like a stainless oven front with a hood at the far right edge of my view. One more turn to the right should place that hood and cooktop properly in front of me.", + "I can now clearly see the range hood mounted on the wall with the gas cooktop and oven directly beneath it, slightly to the right of my heading, with clear floor between us. I will walk forward to close the distance to that stove.", + "I am closer to the counters now, but the hood and the gas cooktop under it sit to the right of my facing direction while the refrigerator and glass cabinets occupy the center. I will turn right to put the stove and its range hood squarely ahead before advancing further.", + "The gas cooktop with its burners sits centered ahead of me on the counter, directly beneath the range hood, so the target is confirmed. I will walk forward to close the remaining distance across the kitchen floor toward it.", + "The burners and the hood above them now fill much of my view, but I am still a step or two short of standing right at the stove. I will advance again to bring myself directly in front of the cooktop.", + "I am standing right at the gas burners with the range hood directly overhead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001135_y002034_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001135_y002034_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83de1ef5d08f2e367c7a8b90a0e5d0b1d0cc84cd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001135_y002034_z000168_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk over to the television.", + "Type": 0, + "Start_Pose": [ + 1134.781, + 2033.913, + 168.149, + -0.301, + -119.927, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1134.781, + 2033.913, + 168.149, + -0.301, + -119.927, + 0.0 + ], + [ + 1134.781, + 2033.913, + 168.149, + -0.301, + -144.927, + 0.0 + ], + [ + 1031.777, + 1961.593, + 168.149, + -0.301, + -144.927, + 0.0 + ], + [ + 928.773, + 1889.273, + 168.149, + -0.301, + -144.927, + 0.0 + ], + [ + 829.334, + 1831.187, + 168.149, + -0.301, + -144.927, + 0.0 + ], + [ + 731.615, + 1827.844, + 168.149, + -0.301, + -144.927, + 0.0 + ], + [ + 628.21, + 1756.336, + 169.092, + -0.301, + -144.927, + 0.0 + ], + [ + 527.91, + 1729.391, + 169.092, + -0.301, + -144.927, + 0.0 + ], + [ + 527.91, + 1729.391, + 169.092, + -0.301, + -144.927, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the television on its low white cabinet across the living room, sitting well to the left of my heading while a wall edge crowds the right side of my view. I will turn left to bring the screen closer to the center of my path before advancing. That should give me a clear straight lane across the open floor toward it.", + "The television is now framed ahead of me with open wooden floor between us and no furniture blocking the line. I will move forward to begin closing the sizeable gap across the room. The sofa sits off to the right of my lane, so it should not interfere.", + "The screen and its cabinet have grown noticeably larger, confirming my heading is carrying me toward the television. Still, several meters of open floor remain before I am beside it. I will continue forward along the same line.", + "I am now past the near edge of the sofa, which has slid to the right of my view, and the television sits ahead beside the tall cupboard. The rug in front of the cabinet is still some distance away. Another step forward should keep shrinking that gap.", + "The television now dominates the wall in front of me and its on-screen text is starting to be legible, but the small round table and rug still lie between us. I will keep moving forward to reach a position right at the cabinet. The path ahead of my feet remains unobstructed.", + "I am close enough now that the cabinet drawers and the screen's blue menu rows fill much of my view, yet I am still a step or two short of standing directly at the television. I will advance again to finish closing that remaining distance. The floor between me and the cabinet is clear.", + "The television is very near, with its screen text sharp and the cabinet edge just ahead of me. One more short step should place me right in front of the set rather than slightly back from it. I will move forward carefully since the cabinet marks the end of the open floor.", + "The television screen fills my view from directly in front of the cabinet, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001166_y-001388_z000160_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001166_y-001388_z000160_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ce1cd941d8476b1398adcfd3e47e74b2fd2c2f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001166_y-001388_z000160_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the sun umbrella.", + "Type": 0, + "Start_Pose": [ + 1165.759, + -1388.033, + 159.763, + -0.301, + 34.557, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1165.759, + -1388.033, + 159.763, + -0.301, + 34.557, + 0.0 + ], + [ + 1269.41, + -1316.643, + 150.363, + -0.301, + 34.557, + 0.0 + ], + [ + 1269.41, + -1316.643, + 150.363, + -0.301, + 9.557, + 0.0 + ], + [ + 1393.521, + -1295.748, + 149.38, + -0.301, + 9.557, + 0.0 + ], + [ + 1517.631, + -1274.852, + 149.766, + -0.301, + 9.557, + 0.0 + ], + [ + 1641.742, + -1253.956, + 149.766, + -0.301, + 9.557, + 0.0 + ], + [ + 1765.852, + -1233.06, + 149.766, + -0.301, + 9.557, + 0.0 + ], + [ + 1845.363, + -1198.346, + 149.339, + -0.301, + 9.557, + 0.0 + ], + [ + 1845.363, + -1198.346, + 149.339, + -0.301, + 9.557, + 0.0 + ] + ], + "Rationale": [ + "From the paved walkway I can see the patio off to my left with a dark sun umbrella standing over a small table near the fence. It is still far away with planting beds between us, so I will move forward along the open pavement to close some of that distance before adjusting my heading.", + "After advancing, the umbrella and its table sit clearly toward the left edge of my view while shrubs and a tree fill the space straight ahead. I will turn left to bring the umbrella nearer the center of my heading and line up with the walkway leading toward the patio.", + "The turn has put the long paved walkway straight in front of me with the umbrella and patio table centered at the far end. With a clear, unobstructed lane ahead, I will move forward to begin closing the remaining distance.", + "The umbrella now reads larger and slightly left of center, confirming my heading is good along this walkway. The pavement remains clear, so I will keep moving forward to shrink the gap.", + "The umbrella canopy and the chairs beneath it are clearly resolved just ahead of me on this patio, and nothing lies between us on the paving. I will continue forward to get within a close standing distance of it.", + "The umbrella now fills much of the upper view with its pole rising from the table right in front of me, so I am nearly there. One more forward step should place me directly at the umbrella.", + "I am standing at the edge of the patio table with the umbrella canopy overhead and its pole just to my left. I will edge forward a little more to settle right beside the umbrella, though the table and chairs may limit how far I can advance.", + "The sun umbrella's pole and canopy are right beside me, overhead at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001202_y001844_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001202_y001844_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..94047df1b2c60b4fa3c3fab403ffefd57830647d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001202_y001844_z000468_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the left nightstand first, then go to the right nightstand.", + "Type": 3, + "Start_Pose": [ + 1201.611, + 1843.588, + 468.15, + 0.0, + 6.637, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1201.611, + 1843.588, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1326.627, + 1858.135, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1435.74, + 1870.059, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1435.74, + 1870.059, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1343.959, + 1859.38, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1252.178, + 1848.7, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1201.622, + 1837.808, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1201.622, + 1837.808, + 468.15, + 0.0, + 31.637, + -0.0 + ], + [ + 1201.622, + 1837.808, + 468.15, + 0.0, + 56.637, + -0.0 + ], + [ + 1201.622, + 1837.808, + 468.15, + 0.0, + 81.637, + -0.0 + ], + [ + 1219.927, + 1962.328, + 468.15, + 0.0, + 81.637, + -0.0 + ], + [ + 1251.994, + 2063.08, + 468.15, + 0.0, + 81.637, + -0.0 + ], + [ + 1251.994, + 2063.08, + 468.15, + 0.0, + 56.637, + -0.0 + ], + [ + 1251.994, + 2063.08, + 468.15, + 0.0, + 31.637, + -0.0 + ], + [ + 1346.944, + 2134.713, + 468.15, + 0.0, + 31.637, + -0.0 + ], + [ + 1346.944, + 2134.713, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1432.139, + 2135.199, + 468.15, + 0.0, + 6.637, + -0.0 + ], + [ + 1432.139, + 2135.199, + 468.15, + 0.0, + 6.637, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can see both bedside tables flanking the bed, and the one on the left, by the window and curtain, is my first destination. It sits well ahead of me, so I will walk forward to close that distance.", + "The nightstand by the window now fills much of the left of my view, with its lamp and the book on top clearly close. I am still a couple of paces short of standing at it, so I will keep walking forward.", + "The lamp shade on the window-side nightstand is right at my feet in the corner of my view, with the bed frame edge beside me. I am standing at that nightstand, so I mark reaching it and set off for the nightstand on the far side of the bed.", + "Standing this close, the nightstand and wall block almost all of my view, so I cannot pick a line toward the bedside table on the other side of the bed. Stepping backward should open the room up again and give me room to swing around without an awkward turn in this corner.", + "Backing off has restored the bed and the window wall to view, but I am still tight against the near bedside table with the bed immediately to my right. Another step backward should put me in open floor where I can turn toward the far side of the bed.", + "From here I can see the whole bed with the other bedside table and its lamp beyond it on the right. I want a little more open carpet behind me before I rotate, so I will take one more short step backward.", + "I now have open floor around me, and the bedside table I am heading for sits on the far side of the bed, off to my right. Turning right should start swinging my heading toward it and toward the floor route past the foot of the bed.", + "The turn has brought the bed and the far bedside table into view, but I am still facing partly across the bed rather than at the open floor beside it. I will turn right again to bring that side of the room, and a walkable line toward it, in front of me.", + "Having marked the nightstand by the window, I am now turning toward the other side of the room, where a small table with a lamp and a red clock sits beside the bed. The bed fills the ground directly ahead, so I keep rotating right to bring the open carpet near the dresser into my heading.", + "The carpet ahead is clear between the foot of the bed and the tall dresser on my right, giving me a lane across the room. I will walk forward along it to close the distance toward the far side where the second nightstand stands.", + "The framed pictures and the dresser have grown much larger, so I am nearing the wall on this side of the room. Another step forward should place me level with that corner, close to where the bedside table stands.", + "I am now right up against this wall, with only blank plaster and a picture frame filling my view. Turning left should swing my heading back along the bed toward the nightstand I still need to reach.", + "The rotation has brought a pale cabinet corner into the lower left, but my heading still points mostly at the empty wall. I will turn left again to bring that bedside table squarely in front of me.", + "The nightstand with its lit lamp and red clock now sits clearly ahead on my left, beside the headboard. The floor between us is clear, so I will step forward to close in on it.", + "My advance has carried me close to the corner wall, and the nightstand's lamp has slipped to the far left edge of my view. A left turn should bring that table back to the center of my heading before I take the last step.", + "The nightstand with its lamp and red clock is now centered just ahead of me beside the pillow. One short step forward should bring me right up to it.", + "The lamp on the nightstand beside the bed's right side fills my view at arm's length. I am standing at it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001210_y-001556_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001210_y-001556_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72824be9fa3a7774538733c523c93fe81cbc854e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001210_y-001556_z000168_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white side door between the garage workbenches.", + "Type": 4, + "Start_Pose": [ + 1210.405, + -1556.455, + 168.15, + -0.148, + -109.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1210.405, + -1556.455, + 168.15, + -0.148, + -109.44, + 0.0 + ], + [ + 1168.517, + -1675.138, + 168.15, + -0.148, + -109.44, + 0.0 + ], + [ + 1126.629, + -1793.822, + 168.15, + -0.148, + -109.44, + 0.0 + ], + [ + 1126.629, + -1793.822, + 168.15, + -0.148, + -84.44, + -0.0 + ], + [ + 1138.823, + -1919.088, + 168.15, + -0.148, + -84.44, + -0.0 + ], + [ + 1138.823, + -1919.088, + 168.15, + -0.148, + -84.44, + -0.0 + ], + [ + 1148.771, + -1948.239, + 168.15, + -0.148, + -84.44, + -0.0 + ], + [ + 1148.771, + -1948.239, + 168.15, + -0.148, + -84.44, + -0.0 + ], + [ + 1148.771, + -1948.239, + 168.15, + -0.148, + -84.44, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white side door is clearly visible ahead in the far garage wall, framed between the workbenches on either side. It is still several steps away, so I will move forward across the open concrete floor to close the distance.", + "The door now fills more of my view and its brass handle is becoming visible, but I am still too far back to reach it. I will continue straight ahead to keep closing on the doorway.", + "My forward motion has left the door off to the right side of my view, with the bare wall and workbench filling the left. I will turn right to bring the doorway and its handle back to the center of my heading before approaching further.", + "The door is now squarely centered in front of me with its lever handle clearly visible on the left stile. I am still standing off from the panel, so I will step forward to get within reach of the handle.", + "The door panel now fills my view and the brass lever handle sits close on my left, so I appear to be within reach. I will try to open the door from here.", + "My last attempt on the handle did not move this white door at all, so I am probably still slightly too far from it to engage the latch. I will edge forward a small amount to close the remaining gap to the door face and put the handle within reliable reach.", + "I am now pressed close against the white door's panelling, much nearer than when my earlier attempt failed to shift it. From this tighter contact distance I will try the door again, which should let the latch release this time.", + "I can see the white door swung inward, revealing the lit hallway beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001222_y-001064_z000134_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001222_y-001064_z000134_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..213e4e642cf7bf09634d51c761eba6a572ddf73d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001222_y-001064_z000134_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk over to the trash bin near the street lamp.", + "Type": 0, + "Start_Pose": [ + 1222.097, + -1064.281, + 134.497, + -0.248, + 117.952, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1222.097, + -1064.281, + 134.497, + -0.248, + 117.952, + 0 + ], + [ + 1163.103, + -953.106, + 127.152, + -0.248, + 117.952, + 0.0 + ], + [ + 1104.11, + -841.93, + 119.808, + -0.248, + 117.952, + 0.0 + ], + [ + 1104.11, + -841.93, + 119.808, + -0.248, + 142.952, + 0.0 + ], + [ + 1003.659, + -766.103, + 114.798, + -0.248, + 142.952, + 0.0 + ], + [ + 903.208, + -690.276, + 113.851, + -0.248, + 142.952, + 0.0 + ], + [ + 802.757, + -614.449, + 115.617, + -0.248, + 142.952, + 0.0 + ], + [ + 802.757, + -614.449, + 115.617, + -0.248, + 117.952, + 0.0 + ], + [ + 765.513, + -517.502, + 121.773, + -0.248, + 117.952, + 0.0 + ], + [ + 765.513, + -517.502, + 121.773, + -0.248, + 117.952, + 0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can see the tall street lamp ahead and to the right, with a gray trash bin standing at the curb right beside its base. That matches my target, so I will move forward along the walkway to begin closing the considerable distance between us.", + "The bin beside the lamp pole now reads slightly larger and lower in my view, confirming I am closing on it. The paved walkway ahead stays clear, so I will keep moving forward.", + "The trash bin and the lamp pole beside it now sit off to the right of my heading, so continuing straight would carry me past them along the curb. I will turn right to bring the bin nearer the center of my view and line up my approach down the sidewalk.", + "After the turn the bin and its street lamp are ahead of me along the grass strip at the curb, roughly in front of my path. The sidewalk continues unobstructed, so I will move forward to shorten the gap.", + "The bin is noticeably taller in my view now and the lamp pole is growing beside it, so my heading is still carrying me toward the target. I will advance again to keep reducing the remaining distance.", + "The bin now stands clearly at the curb just left of the lamp pole and only a short stretch of grass and pavement separates us. One more forward step should bring me nearly alongside it.", + "I am close to the curb, but the bin has drifted to the far left edge of my view while the lamp pole fills the center, so my heading no longer points at the target. I will turn left to bring the bin back in front of me for a final, controlled approach.", + "The bin is now framed just ahead beside the lamp pole at the curb, with only a short step of grass between us. I will move forward a final time to stand right next to it.", + "The trash bin beside the street lamp now fills the near foreground directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001238_y002023_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001238_y002023_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf00bd6bc04630361a8d55f2f39bd92ae64c8cb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001238_y002023_z000468_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Turn away from the bed, locate the bedroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 28.065, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 28.065, + 0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 53.065, + -0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 78.065, + -0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 103.065, + -0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 128.065, + -0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 153.065, + -0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + 178.065, + -0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + -156.935, + 0.0 + ], + [ + 1238.217, + 2023.402, + 468.15, + 0.0, + -131.935, + 0.0 + ], + [ + 1203.773, + 1935.0, + 468.15, + 0.0, + -131.935, + 0.0 + ], + [ + 1203.773, + 1935.0, + 468.15, + 0.0, + -131.935, + 0.0 + ], + [ + 1201.558, + 1848.633, + 468.15, + 0.0, + -131.935, + 0.0 + ], + [ + 1201.558, + 1848.633, + 468.15, + 0.0, + -156.935, + 0.0 + ], + [ + 1201.558, + 1848.633, + 468.15, + 0.0, + -156.935, + 0.0 + ], + [ + 1201.558, + 1848.633, + 468.15, + 0.0, + -156.935, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The bed and its nightstand fill the left side of my view and no doorway is visible along these picture-hung walls. I will turn right to swing my heading away from the bed and begin sweeping the room for the bedroom door.", + "The bed has now dropped out of view, but ahead I only see a blank wall with two framed pictures and the nightstand edging out on the left. Since no door has appeared yet, I will keep rotating right to continue the sweep.", + "A corner and a chest of drawers are entering the right side of my view, and the wall in front of me is still unbroken by any door. Another right turn should carry my view past this furniture toward the unscanned part of the room.", + "Now the chest of drawers with its striped jars dominates the right of my view and the wall corner sits just beyond it, still with no exit. I will continue turning right to look past this corner for the doorway.", + "My view is filled by the dresser top with a decorative vase against another plain stretch of wall, so the door is still not in sight. I will keep rotating right, since the remaining unseen wall on that side is the most likely place for the bedroom door.", + "My view is still filled with the chest of drawers and its ornaments against a blank wall, with no doorway in sight. Since the task is to face away from the bed and find the bedroom door, I will keep rotating right to sweep new wall sections into view.", + "Only bare wall fills my view now, with just the corner of the furniture top clipping the lower left edge. The door still has not appeared, so I will continue the rightward sweep to uncover the wall beyond this blank stretch.", + "A light switch and a narrow strip of white door frame are now visible at the right edge of my view, so the doorway lies just beyond my current heading. I will turn right again to bring that door fully into the center of my view.", + "The closed paneled bedroom door is now clearly in view ahead with its lever handle visible, and open floor lies between me and it. I will move forward to close that gap so the handle comes within reach for an opening attempt.", + "I am now right up against the door with the brass lever and lock plainly filling my view, and the door is still shut. From this close position I will try to operate the handle and open it.", + "My attempt to work the lever handle just now left the door shut, so I was probably not close enough for the interaction to register. The door leaf and its brass handle still fill my view straight ahead with clear floor beneath, so I will step forward to close that gap. Being right up against the leaf should put the handle within reach for another try.", + "Stepping in has brought me very close, and now my view is dominated by the vertical jamb and frame on the right rather than the door leaf and its handle. My heading is skewed off the leaf, which likely explains why the earlier handle attempt did nothing. I will turn left to bring the door panel back to the center of my view before reaching for it again.", + "The door leaf and its recessed panel now sit squarely in front of me at close range, so my heading is on the leaf rather than the frame. My earlier attempt from a skewed position left the door closed, and this alignment looks much better. I will try the handle again and the door should swing open.", + "The door now stands swung inward and the landing with its railing and hallway is open in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001239_y000877_z000122_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001239_y000877_z000122_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02d8ab4ce13a3a7088c95421d4d4e78f046797a0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001239_y000877_z000122_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "First go to the tree next to the row of small bushes, then move to the small white door.", + "Type": 3, + "Start_Pose": [ + 1239.132, + 877.488, + 122.169, + -0.01, + 39.062, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1239.132, + 877.488, + 122.169, + -0.01, + 39.062, + 0.0 + ], + [ + 1336.857, + 956.799, + 127.41, + -0.01, + 39.062, + -0.0 + ], + [ + 1434.582, + 1036.111, + 132.649, + -0.01, + 39.062, + -0.0 + ], + [ + 1434.582, + 1036.111, + 132.649, + -0.01, + 14.062, + -0.0 + ], + [ + 1556.669, + 1066.691, + 134.669, + -0.01, + 14.062, + -0.0 + ], + [ + 1678.757, + 1097.271, + 136.985, + -0.01, + 14.062, + -0.0 + ], + [ + 1800.844, + 1127.851, + 138.966, + -0.01, + 14.062, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 14.062, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + -10.938, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + -10.938, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 14.062, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 39.062, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 64.062, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 89.062, + -0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 114.062, + 0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 139.062, + 0.0 + ], + [ + 1922.932, + 1158.432, + 140.947, + -0.01, + 164.062, + 0.0 + ], + [ + 1801.911, + 1192.992, + 143.186, + -0.01, + 164.062, + 0.0 + ], + [ + 1801.911, + 1192.992, + 143.186, + -0.01, + -170.938, + 0.0 + ], + [ + 1677.623, + 1173.169, + 141.902, + -0.01, + -170.938, + 0.0 + ], + [ + 1553.335, + 1153.346, + 140.609, + -0.01, + -170.938, + 0.0 + ], + [ + 1553.335, + 1153.346, + 140.609, + -0.01, + 164.062, + 0.0 + ], + [ + 1432.314, + 1187.906, + 142.892, + -0.01, + 164.062, + 0.0 + ], + [ + 1432.314, + 1187.906, + 142.892, + -0.01, + 139.062, + 0.0 + ], + [ + 1432.314, + 1187.906, + 142.892, + -0.01, + 114.062, + 0.0 + ], + [ + 1380.645, + 1302.515, + 148.266, + -0.01, + 114.062, + 0.0 + ], + [ + 1329.329, + 1417.438, + 165.14, + -0.01, + 114.062, + 0.0 + ], + [ + 1329.329, + 1417.438, + 165.14, + -0.01, + 114.062, + 0.0 + ] + ], + "Rationale": [ + "Across the lawn ahead of me a leafy tree stands right where a row of small clipped bushes runs along the low wall, which matches the first place I need to reach. Nothing blocks the grass between us, so I will walk forward to close that distance.", + "The tree and the line of small bushes below it have grown noticeably larger and shifted toward my left, confirming my heading is carrying me toward them. I am still well out on the open lawn, so I will keep walking forward.", + "My straight-ahead path now points at the fence and the far corner of the yard, while the tree above the row of bushes has drifted off to my left. I will turn left to put that tree back in front of me before advancing again.", + "The turn has centered the tall tree and the hedge of small bushes along the low wall directly ahead of me. The grass between us is clear, so I will walk forward to shorten the gap.", + "The bushes along the low wall are now clearly separated as individual shrubs and the tree trunk reads thicker, so I am gaining ground on my heading. I will step forward again to keep closing on the tree.", + "The tree's canopy now spreads across the upper part of my view and the shrub row fills the width of the wall, so I am close but not yet beside the trunk. I will advance once more.", + "The trunk rises close on my left with the small bushes ranged just beyond the wall, so a final step should bring me level with the tree. I will walk forward.", + "I am standing right at the wall with the small bushes filling my view, but the tree trunk has slipped to the very left edge as I came alongside it. I will turn left so the tree sits squarely in front of me and I can judge that I am beside it.", + "The slim trunk rises directly in front of me, standing at the near end of the low wall lined with its row of small clipped bushes. I am at that tree. I mark reaching it, and now I turn my attention to finding the small white door.", + "The tree trunk and the bush row fill my view, and no white door is anywhere along this house front. I will turn right to start sweeping my gaze across the rest of the yard for it.", + "Swinging right has only brought more of the low wall and its bushes into view, with the pale siding beyond them. Nothing resembling a small white door shows here, so I keep turning right to bring the far side of the yard into view.", + "The corner of the pale house now sits at my left and the tall board fence stretches away to the right, but still no small white door. Continuing right should carry my view further along the fence line toward the unseen part of the yard.", + "Ahead there is only the long fence with neighboring roofs above it, and the bushes have slid to my left edge. No door is visible in this direction, so I keep rotating right toward the remaining unchecked side.", + "The plain fence panels fill most of my view, but pale siding has just appeared at the right edge, suggesting another wall of the house lies that way. I will turn right again to bring that wall into view where a small white door could be.", + "At the right of my view a covered porch with a white door has come into sight against the side of the house. It sits far off my heading, so turning right should bring it nearer the center where I can walk toward it.", + "The porch with its small white door now stands just right of the direction I face, with open lawn between me and its steps. One more turn right should line my heading up with that approach.", + "Facing the front of the house now, I can see the covered porch on my left with a white entry door set under its roof, and open grass lies between me and it. I walk forward to cut that gap and bring the porch within easy reach.", + "I am close beside the porch now, but its steps and railing sit awkwardly across my heading, so pushing straight ahead would only crowd the corner. I turn right so my path runs along the lawn and walkway beside the porch, which should let me reach a spot in front of the entry.", + "With the porch and its railing now on my left and clear grass and paving stretching ahead, my route along the front of the house is unobstructed. I step forward to travel along the frontage toward the entry side.", + "The porch planter and railing are sliding past on my left, so I have not yet come level with the doorway. I keep walking forward along the lawn to draw even with the entry.", + "The broad paved walk now lies right at my feet and the porch decking sits back along my left, which tells me I have come far enough along the front of the house. I turn left to face the porch so the entry comes into the middle of my view.", + "Turning has put the porch straight in front of me, with a pale white door standing at its near end on my left. I move forward to close on the decking and get within a step or two of that entry.", + "Advancing has pushed the porch railing and columns across my view while the white door has slipped off my left edge. I turn left to swing that entry back toward the center of my view.", + "The white door is back in view on my left, but I am still seeing it edge on rather than head on. I turn left again to square my heading with the doorway before stepping toward it.", + "The small white door sits squarely ahead across the porch decking, framed by its two narrow sidelights. Nothing blocks the boards between me and it, so I will walk straight forward to close the remaining gap.", + "The white door now dominates my view, its brass handle plainly visible just left of centre. A short step more should bring me right up against it rather than leaving me out on the open decking.", + "The small white door's brass handle is right in front of me, an arm's length away. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001252_y002134_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001252_y002134_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c38d47e57612a4b85fe456faa9ec8d39ee84272 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001252_y002134_z000468_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the window on the left side of the room.", + "Type": 2, + "Start_Pose": [ + 1251.595, + 2134.104, + 468.119, + 0.0, + -45.936, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1251.595, + 2134.104, + 468.119, + 0.0, + -45.936, + 0.0 + ], + [ + 1251.595, + 2134.104, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1266.308, + 2023.116, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1266.628, + 1906.098, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1307.122, + 1787.017, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1348.231, + 1668.061, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1348.231, + 1668.061, + 468.119, + 0.0, + -95.936, + 0.0 + ], + [ + 1335.393, + 1569.055, + 468.15, + 0.0, + -95.936, + 0.0 + ], + [ + 1335.393, + 1569.055, + 468.15, + 0.0, + -95.936, + 0.0 + ] + ], + "Rationale": [ + "Two windows are open to me: a wide curtained one ahead behind the bed, and a small square uncurtained one set into the wall far off to my left, which is the one I want. It sits near the edge of my view, so I will turn left to bring that small window in front of me before walking.", + "The small uncurtained window now sits ahead of me, with clear carpet between me and the wall it belongs to. I will walk forward to close that distance.", + "The small window has grown larger and the louvered wardrobe has slid to my left as I advance, so my heading is still good. Nothing blocks the carpet between me and that wall, so I will keep walking forward.", + "The small window and the low chest beside it are noticeably closer, and I am still several steps short of the wall. I will continue forward toward that window.", + "The window now dominates the upper part of my view and I can read the trees and roofline through its panes, but there is still floor between me and the sill. I will step forward again to stand close to it.", + "I am close to the window, but it has drifted to the left half of my view while the chest of drawers takes the right. I will turn left so the window is squarely in front of me before taking a final step.", + "The window is now centered ahead of me with its sill in plain view and only a short stretch of floor remaining. I will step forward to stand right at it.", + "I am standing at the window, its frame filling my view and the street outside visible through the glass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001252_y002134_z000468_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001252_y002134_z000468_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..43529a35f310c717574d5ddacffcfdfc8f7251a4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001252_y002134_z000468_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the ceramic pot near the window on the left side of the room.", + "Type": 5, + "Start_Pose": [ + 1251.595, + 2134.104, + 468.119, + 0, + -45.936, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1307.038, + 1587.861, + 383.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1251.595, + 2134.104, + 468.119, + 0, + -45.936, + 0 + ], + [ + 1251.595, + 2134.104, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1266.308, + 2023.116, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1266.628, + 1906.098, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1307.122, + 1787.017, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1307.122, + 1787.017, + 468.119, + 0.0, + -70.936, + 0.0 + ], + [ + 1307.122, + 1787.017, + 468.119, + 0.0, + -70.936, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1307.038, + 1587.861, + 383.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1307.038, + 1587.861, + 383.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1307.038, + 1587.861, + 383.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1307.038, + 1587.861, + 383.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1307.038, + 1587.861, + 383.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1327.105, + 1794.568, + 438.257, + -28.202, + -20.791, + 1.862 + ], + [ + 1327.105, + 1794.568, + 438.257, + -28.202, + -20.791, + 1.862 + ] + ], + "PD_Dist_2D": [ + 549.0, + 549.0, + 437.2, + 320.8, + 199.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The reddish ceramic pot sits on the carpet at the far left of the room, beside the window wall, while my heading is aimed across the bed. I will turn left so the pot and the open floor leading to it lie ahead of me instead of at the edge of my view.", + "The pot now sits ahead of me on the carpet, just left of the small window and the low dresser, with clear open floor between us. It is still far off, so I will walk forward to close that distance.", + "The pot has grown noticeably larger and stays near the center of my view against the wall below the window. My heading is still good, so another straight step forward should bring me closer without needing to turn.", + "The pot is now clearly in front of me on the carpet by the window wall, but it is still a couple of paces out and too far to reach. I will step forward once more to get within grasping range.", + "The ceramic pot is right at my feet near the window, filling the lower part of my view with nothing between us. My hands are empty and this is the target named in the task, so I will attempt to pick it up now.", + "The ceramic pot is now held in my hands and no longer resting on the carpet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001253_y-001251_z000147_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001253_y-001251_z000147_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08d43be6e94aa58803c68ba6086d141f29eb0143 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001253_y-001251_z000147_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the wall light first, then go to the patio table.", + "Type": 3, + "Start_Pose": [ + 1252.909, + -1250.97, + 147.015, + -0.301, + -15.203, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1252.909, + -1250.97, + 147.015, + -0.301, + -15.203, + 0.0 + ], + [ + 1374.362, + -1283.975, + 148.112, + -0.301, + -15.203, + 0.0 + ], + [ + 1374.362, + -1283.975, + 148.112, + -0.301, + -40.203, + -0.0 + ], + [ + 1470.487, + -1365.215, + 149.883, + -0.301, + -40.203, + -0.0 + ], + [ + 1470.487, + -1365.215, + 149.883, + -0.301, + -40.203, + -0.0 + ], + [ + 1470.487, + -1365.215, + 149.883, + -0.301, + -40.203, + -0.0 + ], + [ + 1470.487, + -1365.215, + 149.883, + -0.301, + -15.203, + 0.0 + ], + [ + 1470.487, + -1365.215, + 149.883, + -0.301, + 9.797, + 0.0 + ], + [ + 1594.508, + -1343.8, + 149.883, + -0.301, + 9.797, + 0.0 + ], + [ + 1718.53, + -1322.384, + 149.883, + -0.301, + 9.797, + 0.0 + ], + [ + 1842.552, + -1300.968, + 149.883, + -0.301, + 9.797, + 0.0 + ], + [ + 1869.159, + -1330.26, + 149.52, + -0.301, + 9.797, + 0.0 + ], + [ + 1869.159, + -1330.26, + 149.52, + -0.301, + 9.797, + 0.0 + ] + ], + "Rationale": [ + "The lantern fixed to the pale siding on my left is my first destination, and the umbrella-shaded patio table sits further down the yard on the right. The paved walkway ahead is clear, so I will walk forward to close on that wall lamp.", + "The wall lantern now sits well off to my left, near the edge of my view, while my heading runs down the walkway past it. I will turn left so the lamp and the siding it hangs on come in front of me.", + "With the turn done, the lantern on the siding is up in the left part of my view and still some distance off. The grass strip and stone border beside the path are open, so I will step forward to bring myself under the lamp.", + "I am close to the siding now, and the lantern has climbed to the very top of my view where only its lower housing shows. I will look up so the fixture is fully in front of me and I can confirm I am standing at it.", + "The glass-paned lantern on the siding is right beside me, close enough that its bracket and shade fill the near wall. I have reached the wall light. I mark reaching it and now set off for the umbrella-shaded patio table across the yard.", + "My view is filled by the lamp and the siding, with the open yard lying off to my right. I will turn right to swing away from the wall and bring the patio and its umbrella back in front of me.", + "The patio with its dark umbrella and table now shows on the right side of my view, while the fence and rockery still occupy the center. I will turn right again to put that table straight ahead before walking on.", + "The patio table under its umbrella is now centered ahead of me with chairs around it, and the paved walkway leading there is unobstructed. I will walk forward to close the remaining distance to it.", + "The umbrella-shaded patio table with its chairs stands squarely ahead on the paved area, still several paces off. My heading down the walkway lines up with it, so I will keep walking straight to close the gap.", + "The table and its chairs now fill much of my view, the umbrella canopy spreading above them, but I am still a couple of steps short of the table edge. Another stride forward should bring me right up beside it.", + "I am under the umbrella canopy with the tabletop and its pole directly before me, just past arm's reach. A short final step should place me right at the table's edge.", + "The patio table and its chair are directly at my side beneath the open umbrella. Both named destinations are reached, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001267_y002072_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001267_y002072_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b2704b062561313fe2c8cb1079f5c97024c56c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001267_y002072_z000468_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Find the potted plant with green leaves and move close to it.", + "Type": 1, + "Start_Pose": [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 125.677, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 125.677, + -0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 100.677, + -0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 75.677, + -0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 50.677, + -0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 25.677, + -0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + 0.677, + -0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + -24.323, + 0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + -49.323, + 0.0 + ], + [ + 1266.673, + 2072.442, + 468.15, + 0.0, + -74.323, + 0.0 + ], + [ + 1266.309, + 1954.256, + 468.15, + 0.0, + -74.323, + 0.0 + ], + [ + 1285.454, + 1833.715, + 468.15, + 0.0, + -74.323, + 0.0 + ], + [ + 1285.454, + 1833.715, + 468.15, + 0.0, + -49.323, + 0.0 + ], + [ + 1367.488, + 1738.264, + 468.15, + 0.0, + -49.323, + 0.0 + ], + [ + 1442.466, + 1643.184, + 468.15, + 0.0, + -49.323, + 0.0 + ], + [ + 1442.466, + 1643.184, + 468.15, + 0.0, + -49.323, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a blank wall, a framed picture, and the top of a dresser with striped canisters, so no potted plant with green leaves is anywhere in sight. I will turn left to begin a steady scan of this room in one consistent direction. This should open up unseen wall and floor space where a plant could be standing.", + "The new heading only shows more pale wall with a framed picture above the edge of the dresser, and still no plant. Continuing the same leftward rotation keeps my scan consistent instead of doubling back over space I have already checked. More of the room should come into view with the next turn.", + "I am facing an almost featureless wall with two framed pictures near the ceiling, which tells me nothing about the plant's location. I will keep turning left to sweep past this wall toward whatever furniture or corner lies beyond it. Any planter would likely sit on a surface or on the floor that is still hidden from me.", + "The room is opening up now, with a lamp on a small cabinet appearing at the far left and carpeted floor along the wall base, but no potted plant yet. I will continue turning left so the rest of that furnished side comes into view. A plant is more plausible near such surfaces than on the bare wall I have been facing.", + "I can now see a bed, a nightstand with a lamp and a clock, and framed pictures, so this is a bedroom, yet there is still no green foliage anywhere. Turning left again should reveal the remaining part of the room, likely toward a window side where a potted plant would commonly be placed. I keep the rotation in the same direction to avoid rechecking covered angles.", + "The bed headboard and both nightstands are centered in front of me and there is still no plant on any of these surfaces. Continuing left should swing my view toward the room's outer wall, where daylight and a window are more likely to host a potted plant. I will keep the scan going in the same direction.", + "A curtained window has come into view and at the far left edge I can make out a small plant with green leaves sitting on a low chest beside it. Since it is only clipped at the very edge of my view, I will turn left again to bring it properly into sight. That should let me confirm it is the potted plant and set a heading toward it.", + "The potted plant with green leaves is now clearly visible on the chest of drawers by the windows, left of my current facing. I will turn left once more to line my body up with that corner before walking toward it. Facing it directly should give me a clean straight path across the open carpet.", + "Scanning the room from this heading, I can see a small potted plant with green leaves sitting on the low chest of drawers between the two windows across the room. That matches the target, so I will stop scanning and walk forward to begin closing the distance toward the far corner.", + "The leafy potted plant on the chest of drawers by the bright corner window is noticeably larger now, confirming I am heading the right way. The carpet ahead is clear, so I will keep walking forward to shorten the remaining distance.", + "The potted plant with green leaves now sits slightly right of my viewing center, near the corner where the two windows meet. I will turn right to bring it closer to the middle of my view so my next steps head straight at it.", + "After the turn, the green leafy plant on the small chest of drawers is roughly centered ahead of me with open carpet in between. I will walk forward to move close to it.", + "I am now only a short distance from the chest of drawers, and the potted plant with its broad green leaves fills a good part of my view. One more step forward should place me right beside it, close enough to satisfy the task.", + "The green-leaved potted plant is directly in front of me at arm's length on the dresser top. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001272_y000423_z000109_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001272_y000423_z000109_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68d6293b4cf93a3aaea7c3f0db3ee853ae8f67b5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001272_y000423_z000109_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the concrete roadblock on the far right.", + "Type": 2, + "Start_Pose": [ + 1272.289, + 423.105, + 109.055, + 0.0, + -27.141, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1272.289, + 423.105, + 109.055, + 0.0, + -27.141, + 0.0 + ], + [ + 1384.289, + 365.69, + 98.15, + 0.0, + -27.141, + 0.0 + ], + [ + 1384.289, + 365.69, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1510.06, + 360.988, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1635.831, + 356.287, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1761.603, + 351.585, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1761.603, + 351.585, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1875.453, + 346.947, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1875.453, + 346.947, + 98.15, + 0.0, + -2.141, + 0.0 + ], + [ + 1875.453, + 346.947, + 98.15, + 0.0, + -2.141, + 0.0 + ] + ], + "Rationale": [ + "A row of four concrete roadblocks lines the curb in front of the white house, and the one I want is the last on the right, standing where the grass verge and the tall utility pole are. They all look alike, so I hold onto that pole-side placement. It is still far off, so I walk forward to close distance.", + "From here the barrier beside the utility pole and grass verge sits off to my right, while my heading points down the middle of the road. I turn right to swing my path toward that end of the row rather than the barriers on the left.", + "My heading now runs toward the barrier that stands next to the utility pole and the grassy strip. Nothing blocks the pavement between us, so I walk forward to shorten the gap.", + "The barrier by the verge is noticeably larger now and sits just left of the pole in my view, confirming I am tracking the right one. I keep walking forward since I am still several steps short of it.", + "Only two roadblocks remain in view, and mine is the nearer one against the curb and grass verge. I advance again to bring myself right up beside it.", + "The barrier by the verge is now so close that it is being cut off at the bottom edge of my view. I look down to keep it fully visible and judge how much distance is left.", + "With my gaze lowered I can see the curbside roadblock and the grass verge just ahead of me, a step or so away. I walk forward once more to pull up directly alongside it.", + "After that step my view shows the fence and porch straight ahead, with the roadblock no longer visible because it is now below me. I look down to check that I am standing right at the barrier by the verge.", + "The curbside roadblock fills the bottom of my view, right at my feet. I have reached it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001278_y002105_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001278_y002105_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77c969a5f9188b05ac68c2bec971288c808b7742 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001278_y002105_z000468_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Visit the window with curtains first, and then go to the door.", + "Type": 3, + "Start_Pose": [ + 1277.552, + 2104.807, + 468.15, + 0.0, + -83.257, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1277.552, + 2104.807, + 468.15, + 0.0, + -83.257, + 0.0 + ], + [ + 1266.323, + 1996.274, + 468.15, + 0.0, + -83.257, + 0.0 + ], + [ + 1266.323, + 1996.274, + 468.15, + 0.0, + -58.257, + 0.0 + ], + [ + 1270.21, + 1893.828, + 468.15, + 0.0, + -58.257, + 0.0 + ], + [ + 1270.21, + 1893.828, + 468.15, + 0.0, + -33.257, + 0.0 + ], + [ + 1367.88, + 1820.46, + 468.15, + 0.0, + -33.257, + 0.0 + ], + [ + 1367.88, + 1820.46, + 468.15, + 0.0, + -8.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -8.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -8.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -33.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -58.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -83.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -108.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -133.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + -158.257, + 0.0 + ], + [ + 1441.684, + 1794.808, + 468.15, + 0.0, + 176.743, + -0.0 + ], + [ + 1316.028, + 1801.958, + 468.15, + 0.0, + 176.743, + -0.0 + ], + [ + 1202.814, + 1811.558, + 468.15, + 0.0, + 176.743, + -0.0 + ], + [ + 1202.814, + 1811.558, + 468.15, + 0.0, + 151.743, + -0.0 + ], + [ + 1202.814, + 1811.558, + 468.15, + 0.0, + 151.743, + -0.0 + ] + ], + "Rationale": [ + "The wide window with the draped curtains sits ahead on my right side of the room, past the bench and chest of drawers. Walking straight into the open floor should close much of that gap before I swing toward it.", + "From here the curtained window has drifted to the right edge of my view while the small bare window sits nearer the middle. I will turn right to bring the draped window toward the center of my heading.", + "The curtained window is now well inside my view with clear carpet between me and the bench beneath it. Stepping forward should carry me closer to that window.", + "The draped window still lies off to my right, with the plain window and dresser holding the center of my view. A further right turn should square my heading onto the curtained window.", + "The curtained window now fills the middle of my view with the bench directly under it. Advancing should bring me right up to the sill.", + "I am close enough that the curtain panel and its tieback fill much of my view, but the window glass has shifted to my left of center. Turning right should settle me squarely at the curtained side of this window rather than drifting past it.", + "The curtain and the lamp on the nightstand are near enough to show fine detail, so only a short gap remains to the sill. A last step forward should place me right at the curtained window.", + "The window glass and its gathered curtain panel fill my view at arm's length, with the sill right in front of me. I have arrived at the curtained window. I mark reaching it and now set off for the door.", + "I am right against the curtained window pane, so there is nothing more to gain by facing the glass. The paneled door is somewhere behind me along the room's inner wall, out of my view here. I will turn left to begin sweeping my heading away from the window and toward that wall.", + "The turn has widened my view to the window bay and sill, but the room's interior wall is still off to my left. No hinged door has come into sight yet. I will keep turning left to bring the interior of the room in front of me.", + "The dresser with the potted plant and the curtain edge now sit at the left of my view, so the room interior is beginning to swing into frame. The door I want is still further around. Another left turn should carry my heading deeper into the room.", + "I can now see the small side window and the dresser ahead, with the curtained bay slipping to my right. Still no paneled door in view. I will continue turning left toward the wall where the room's entrance should be.", + "The tall built-in cabinetry has come into frame on my left, which means I am facing the interior wall now. The door is not yet showing beyond that cabinetry. I will keep rotating left to expose the rest of that wall.", + "In front of me are louvered closet fronts and a chest of drawers, not the room's exit. Whatever lies past the closet is still hidden to my left. One more left turn should reveal that stretch of wall.", + "The paneled door with its brass handle has appeared at the far left edge of my view, past the closet. It sits too far to the side for a clean straight walk. I will turn left once more to bring it near the center of my heading.", + "The paneled door with its brass handle now sits ahead of me with clear carpet between us and the closet safely off to my right. Nothing blocks a straight walk toward it. I will step forward to close the remaining distance to the door.", + "The paneled door with its brass knob now fills most of my view, but a short stretch of carpet still separates me from it. I will step forward again to close that last gap and stand directly at the door.", + "I am right up against the door, but my heading has drifted so that the door jamb and wall edge occupy the right of my view while the panel sits off to the left. Turning left should bring the door face and its handle squarely in front of me.", + "The door's panels, knob and lever handle stand directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001282_y-001032_z000132_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001282_y-001032_z000132_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e6ac332068ae3aeb572ab242c167c115a8e1ca0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001282_y-001032_z000132_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search the surroundings and walk to the trash bin beside the streetlight.", + "Type": 1, + "Start_Pose": [ + 1281.536, + -1032.175, + 132.389, + 0.0, + -99.872, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + -99.872, + 0.0 + ], + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + -124.872, + 0.0 + ], + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + -149.872, + 0.0 + ], + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + -174.872, + 0.0 + ], + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + 160.128, + -0.0 + ], + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + 135.128, + -0.0 + ], + [ + 1281.536, + -1032.175, + 132.389, + 0.0, + 135.128, + -0.0 + ], + [ + 1192.342, + -943.378, + 126.523, + 0.0, + 135.128, + -0.0 + ], + [ + 1103.147, + -854.582, + 120.656, + 0.0, + 135.128, + -0.0 + ], + [ + 1013.953, + -765.785, + 114.79, + 0.0, + 135.128, + -0.0 + ], + [ + 924.759, + -676.988, + 113.839, + 0.0, + 135.128, + -0.0 + ], + [ + 835.564, + -588.191, + 114.562, + 0.0, + 135.128, + -0.0 + ], + [ + 765.775, + -500.621, + 120.215, + 0.0, + 135.128, + -0.0 + ], + [ + 765.775, + -500.621, + 120.215, + 0.0, + 135.128, + -0.0 + ] + ], + "Rationale": [ + "From here I only see the closed garage door and the pale siding of the house directly ahead, with no trash bin or streetlight anywhere in view. Since the target must be somewhere out along the street, I will turn left to begin a steady scan away from this wall.", + "The rotation has brought the porch, its railing and a planter into view, but there is still no trash bin and no streetlight pole. I will keep turning left in the same direction to sweep further toward the open yard and the street beyond.", + "Now I can see the front lawn, the low path lights and a tall hedge with trees behind it, which suggests the street lies just past that hedge. No bin or lamp post is visible yet, so I will continue the left scan toward that likely roadside area.", + "The hedge line and driveway now dominate the view and I can glimpse lighter open space beyond the shrubs, but the curb itself is still hidden. I will turn left again to bring the roadside strip fully into view, where a streetlight and bin would most likely stand.", + "The street is now open in front of me and I can make out a tall dark pole rising from the grass strip with a grey wheeled bin standing right next to it, slightly left of my heading. I will turn left once more to place that pole and bin near the center of my view before walking toward them.", + "The pole and the bin beside it are now centered ahead of me, but the top of the pole is cut off by the upper edge of my view so I cannot yet confirm it carries a lamp. I will look up to check for the streetlight fixture and make sure this is the pole the task refers to.", + "Raising my gaze confirms a lamp arm and light head at the top of the pole ahead, so this is the streetlight, and the bin sits at its base by the curb. I will walk forward along the pavement to close the distance to that bin.", + "The streetlight pole and the grey bin beside it are clearly ahead on the grass strip at the edge of the road, and they have grown noticeably larger in my view. The walkway in front of me is still clear, so I will keep stepping forward toward the bin.", + "The grey wheeled trash bin sits right at the base of the tall streetlight pole ahead of me along the grass strip beside the road. That matches the target described in the task, so I will keep walking straight toward it rather than scanning further.", + "The bin beside the streetlight pole now appears larger and lower in my view, confirming that my straight heading is closing the gap. I will advance again since I am still several strides short of standing beside it.", + "The bin and the pole are close now, with the bin clearly to the left of the pole on the verge next to the curb. Another forward step should bring me right up alongside it.", + "The trash bin now fills the lower left of my view and the streetlight pole rises directly in front of me, so I am nearly at the target. I will take one more short step forward to finish closing that small remaining distance.", + "The trash bin stands directly in front of me at the streetlight's base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001296_y001578_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001296_y001578_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..40fdfe53f1a7f51e0232bfce471769e0411c7366 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001296_y001578_z000168_t1_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Explore the area and go to the refrigerator.", + "Type": 1, + "Start_Pose": [ + 1295.71, + 1578.351, + 168.15, + -0.05, + -4.213, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1295.71, + 1578.351, + 168.15, + -0.05, + -4.213, + 0.0 + ], + [ + 1295.71, + 1578.351, + 168.15, + -0.05, + 20.787, + -0.0 + ], + [ + 1295.71, + 1578.351, + 168.15, + -0.05, + 45.787, + -0.0 + ], + [ + 1383.475, + 1668.561, + 168.15, + -0.05, + 45.787, + -0.0 + ], + [ + 1419.644, + 1754.427, + 168.15, + -0.05, + 45.787, + -0.0 + ], + [ + 1415.785, + 1832.748, + 168.15, + -0.05, + 45.787, + -0.0 + ], + [ + 1415.785, + 1832.748, + 168.15, + -0.05, + 45.787, + -0.0 + ] + ], + "Rationale": [ + "From here I only see upper cabinets, a counter with canisters, and a dishwasher, with no refrigerator anywhere in view. The kitchen clearly continues to my right past the sink area, so I will turn right to scan that stretch for the refrigerator.", + "The scan now reveals the sink run and, at the far right edge, a tall white appliance with rounded edges that looks like the refrigerator. I will continue turning right in the same direction to bring that candidate fully into view before committing to an approach.", + "The white refrigerator is now clearly in view ahead along the galley, standing between the cabinet runs near the stove and window. The floor between me and it is clear, so I will walk forward to close the distance.", + "The refrigerator has grown noticeably larger ahead of me, though I am still several steps back with the sink counter running along my left. I will keep walking forward down this open aisle to get right up to it.", + "The refrigerator door and its two chrome handles now fill much of the view slightly to my right, so I am nearly beside it. One more step forward should place me directly at the appliance.", + "The refrigerator door and its handle fill the view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001296_y002134_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001296_y002134_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..089e80b52eb4fa7171fec0e0340ee4024b4de9e6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001296_y002134_z000468_t2_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the right window.", + "Type": 2, + "Start_Pose": [ + 1296.252, + 2133.928, + 468.073, + 0.0, + -52.883, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1296.252, + 2133.928, + 468.073, + 0.0, + -52.883, + 0.0 + ], + [ + 1366.363, + 2100.734, + 468.073, + 0.0, + -52.883, + 0.0 + ], + [ + 1432.107, + 2100.734, + 468.073, + 0.0, + -52.883, + 0.0 + ], + [ + 1432.136, + 2100.734, + 468.073, + 0.0, + -52.883, + 0.0 + ], + [ + 1372.365, + 2134.202, + 467.983, + 0.0, + -52.883, + 0.0 + ], + [ + 1372.365, + 2134.202, + 467.983, + 0.0, + -77.883, + 0.0 + ], + [ + 1372.365, + 2134.202, + 467.983, + 0.0, + -102.883, + 0.0 + ], + [ + 1347.683, + 2100.749, + 467.983, + 0.0, + -102.883, + 0.0 + ], + [ + 1325.608, + 2100.749, + 467.983, + 0.0, + -102.883, + 0.0 + ], + [ + 1325.608, + 2100.749, + 467.983, + 0.0, + -127.883, + 0.0 + ], + [ + 1248.114, + 2052.498, + 467.983, + 0.0, + -127.883, + 0.0 + ], + [ + 1248.114, + 2052.498, + 467.983, + 0.0, + -102.883, + 0.0 + ], + [ + 1248.114, + 2052.498, + 467.983, + 0.0, + -77.883, + 0.0 + ], + [ + 1266.319, + 1929.674, + 467.983, + 0.0, + -77.883, + 0.0 + ], + [ + 1286.76, + 1806.899, + 467.983, + 0.0, + -77.883, + 0.0 + ], + [ + 1286.76, + 1806.899, + 467.983, + 0.0, + -52.883, + 0.0 + ], + [ + 1286.76, + 1806.899, + 467.983, + 0.0, + -27.883, + 0.0 + ], + [ + 1398.008, + 1748.038, + 467.983, + 0.0, + -27.883, + 0.0 + ], + [ + 1398.008, + 1748.038, + 467.983, + 0.0, + -2.883, + 0.0 + ], + [ + 1442.525, + 1742.588, + 467.983, + 0.0, + -2.883, + 0.0 + ], + [ + 1442.525, + 1742.588, + 467.983, + 0.0, + -2.883, + 0.0 + ] + ], + "Rationale": [ + "The far wall on my left holds two windows, a plain one and, to its right, one dressed with curtains, so that curtained window is what I am heading for. It sits ahead and off to my left, with open carpet along the near side of the bed. I will walk forward to close the distance.", + "The curtained window has grown larger and now sits off to my left, past the nightstand and dresser. The floor directly in front of me still looks unobstructed, so I will keep walking forward to shorten the remaining distance.", + "The headboard now fills the right half of my view and I am tight against the corner of the bed, while the curtained window remains ahead on my left. A strip of carpet still appears to run past the nightstand, so I will try another step forward toward it.", + "My last step forward changed nothing in my view, so the bed corner pressed against me is holding me in place. Backing up should pull me out of that pinch and give me room to reorient before approaching the curtained window on a clearer line.", + "With some clearance regained, the bed still lies between me and the curtained window on the far left wall. Turning left should swing my heading off the bed and onto the open carpet on that side, giving me a passable line toward the window.", + "The bed fills my right side, and the open carpet running along the wardrobes to my left is the only clear floor I can see. Another turn left should line me up with that lane so I can travel past the bed rather than press into it again.", + "The lane between the bed and the wardrobe wall now opens straight ahead, and the drapes of the curtained window hang at the right edge of my view. I will walk forward along this clear carpet to draw level with the far end of the bed.", + "The wardrobes have grown larger on my left and nothing stands in the carpet in front of me, while the curtained window remains off my right. Another stride forward should carry me past the foot of the bed.", + "The corner of the bed sits just off my right and the carpet continues ahead toward the door wall. Turning left should square me with that open stretch so I can pass the bed entirely; the curtained window is off my right and I will come back to it.", + "The plain wall with its door lies ahead on my left and the carpet stretches ahead unbroken, so this heading offers a straight run clear of the bed. I will walk forward along it to reach the far side of the room before swinging back toward the curtained window.", + "This heading has run out of usefulness: a blank wall and the closed door fill most of my view, with only wardrobe fronts at my right edge. The curtained window lies well round to that side now, so I will turn right to begin swinging my heading off this wall and back toward it.", + "The room has opened up again, showing the wardrobes, a small plain window on the far wall and a dresser at my right edge, but the drapes I am after sit further round still. A second turn right should carry that curtained window into the middle of my view.", + "Both windows on that wall read clearly from here, the plain one straight ahead and the curtained one to its right above the bench. Nothing but open carpet lies between me and that corner, so I will walk forward toward the curtained one.", + "The dresser and the plain window have grown noticeably and the drapes still hang at my right edge, so my line is good and the corner is closer. The floor in front of me stays clear, so another stride forward should bring me near the wall.", + "I am close to the wall now, with the plain window filling the centre of my view and the tall wardrobe crowding my left. The curtained window I want sits just off to my right beyond the dresser, so turning right should place it in front of me.", + "The plain window has slipped to my left edge and the drapes now sweep in from the right, so my target lies just beyond the dresser. A second turn right should bring the curtained window squarely in front of me.", + "The curtained window is centred ahead now, drapes tied back on either side above its bench, with nothing but bare carpet between us. I will walk forward to close that remaining gap.", + "The glass and sill now dominate my view, but the gathered drape and the dresser sit hard against my left, meaning I am aimed at the window's left portion rather than its middle. A turn right should recentre me on the panes.", + "The panes sit straight ahead with the curtain gathered to my right, so my heading matches the middle of the window. One short stride forward should bring me right up against the sill.", + "The curtained window fills my view with its sill directly before me. I have reached it, so there is nothing left to do but stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001300_y001617_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001300_y001617_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0205163071e1d7b1b501cb719e7fa51c299e463d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001300_y001617_z000468_t2_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Navigate to the lamp on the right bedside table.", + "Type": 2, + "Start_Pose": [ + 1299.731, + 1616.541, + 468.15, + 0.0, + 36.397, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1299.731, + 1616.541, + 468.15, + 0.0, + 36.397, + -0.0 + ], + [ + 1299.731, + 1616.541, + 468.15, + 0.0, + 61.397, + -0.0 + ], + [ + 1299.731, + 1616.541, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1307.64, + 1742.151, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1315.55, + 1867.761, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1321.499, + 1870.018, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1327.449, + 1870.018, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1321.643, + 1777.801, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1321.643, + 1777.801, + 468.15, + 0.0, + 111.397, + -0.0 + ], + [ + 1271.789, + 1890.995, + 468.15, + 0.0, + 111.397, + -0.0 + ], + [ + 1271.789, + 1890.995, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1266.33, + 2012.057, + 468.15, + 0.0, + 86.397, + -0.0 + ], + [ + 1266.33, + 2012.057, + 468.15, + 0.0, + 61.397, + -0.0 + ], + [ + 1266.33, + 2012.057, + 468.15, + 0.0, + 36.397, + -0.0 + ], + [ + 1271.893, + 2079.681, + 468.15, + 0.0, + 36.397, + -0.0 + ], + [ + 1271.893, + 2079.681, + 468.15, + 0.0, + 11.397, + -0.0 + ], + [ + 1376.8, + 2117.664, + 468.15, + 0.0, + 11.397, + -0.0 + ], + [ + 1432.144, + 2135.168, + 467.941, + 0.0, + 11.397, + -0.0 + ], + [ + 1432.144, + 2135.168, + 467.941, + 0.0, + -13.603, + 0.0 + ], + [ + 1432.144, + 2135.168, + 467.941, + 0.0, + -13.603, + 0.0 + ] + ], + "Rationale": [ + "Two bedside tables flank the bed, and the one on the right side of the bed, the one holding a lamp beside a small red clock, is the lamp I want rather than the lamp near the window. It sits well off to the right of my heading, past the foot of the bed. I turn right to swing my facing toward that side of the room.", + "After the first turn, the bed still cuts across most of my heading and the lamp with the red clock remains tucked behind the headboard side. The clear carpet lane runs further to my right, past the foot of the bed. I turn right again to face that open floor instead of the mattress.", + "I now face down the open floor of the room, with the bed and its nightstands to my left and the door and dresser wall ahead on the right. Nothing blocks this lane. I walk forward to close distance toward the far end of the bed where the lamp with the red clock stands.", + "The pictures on the far wall and the dresser have grown noticeably larger, so my last step carried me well down the room. The lamp with the red clock is now clearly on my left beside the bed, though still ahead of my shoulder. I keep walking forward to draw level with it.", + "The far wall with the two framed pictures is close ahead and the dresser crowds my right, while the lamp with the red clock sits just to my left at the head of the bed. I am not yet abreast of that table. I step forward once more to gain the little remaining ground toward it.", + "My last push barely changed anything: the two framed pictures and the chest hold the same size as before, so something low is checking my advance. The nightstand with the red clock is still ahead of my left shoulder rather than beside me. I try one more step to see if the lane still gives.", + "Two forward attempts running have shifted the wall and chest hardly at all, so I am pinched against the corner of the bed and cannot creep nearer to that nightstand on this line. Backing up should restore clearance and room to take a different approach.", + "With space regained behind me, the foot of the bed and the wall corner that stalled me are back in full view, and open carpet stretches to my right past the chest of drawers. I turn right to take that unobstructed floor rather than the pinched gap that stopped me.", + "Bare carpet runs ahead between the bed and the door wall, with only the small chest against the far side and nothing in my path. I walk forward along this open strip to work deeper into the room without jamming against the bed corner again.", + "The chest of drawers and the corner walls now fill most of my view, so this lane has taken me as far along the right side as it is worth going. The bed and the table holding the lamp with the red clock lie off to my left. I turn left to swing that side of the room back into my heading.", + "Swinging left has put the bed back along my left side, with the nightstand lamp glowing at the edge of my view and clear carpet running ahead between the mattress and the chest of drawers. This lane approaches the head of the bed from a wider angle than the pinched gap that stopped me earlier. I walk forward along it.", + "That step brought me right up under the two framed pictures, so the blank wall and the corner of the chest now fill nearly everything I see. The nightstand with the lamp has slipped off past my left shoulder. I turn left to bring it back into view.", + "The lamp has come back into the corner of my view, but only its shade and the edge of its table show at the far left while the bare wall still takes up most of my heading. That is not enough alignment to walk straight at it. I turn left again to bring the nightstand nearer the middle.", + "Now the nightstand sits squarely in front of me with the lamp and the small red clock on top and the headboard beside it, and the carpet between us is empty. This angle clears the bed corner that checked me before. I step forward to close the gap.", + "Closing in has pushed the lamp table out to my left edge again while the plain side wall takes the center of my view. I need it in front of me before I press any nearer. I turn left to recenter the nightstand and its lamp.", + "The recentring worked: the nightstand with its lit lamp and the red clock now sits in the middle of my view, with the headboard and pillow just to its left. Open carpet lies between us and nothing juts into that line. I walk forward to close on the table.", + "The tabletop now fills the lower part of my view with the shade and the clock face large in front of me, so I am nearly there but still short of standing at the table's edge. A small amount of floor remains. I step forward again to take up that last bit.", + "That last step brought me right against the corner, and now only the rim of the lamp shade shows at my lower left while blank wall takes up everything else. I am close enough, but badly aimed to confirm what I stand at. I turn left to put the lamp back in front of me.", + "The lit lamp stands directly before me on the nightstand beside the headboard, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001302_y-000278_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001302_y-000278_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac6d7237543c8955dd01748245ca5425bb43aaa1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001302_y-000278_z000098_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move to the second concrete barrier on the left.", + "Type": 2, + "Start_Pose": [ + 1301.949, + -278.267, + 98.15, + 0.0, + 13.184, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1301.949, + -278.267, + 98.15, + 0.0, + 13.184, + -0.0 + ], + [ + 1424.491, + -249.561, + 98.15, + 0.0, + 13.184, + -0.0 + ], + [ + 1547.032, + -220.855, + 98.15, + 0.0, + 13.184, + -0.0 + ], + [ + 1669.574, + -192.15, + 98.15, + 0.0, + 13.184, + -0.0 + ], + [ + 1792.116, + -163.444, + 98.15, + 0.0, + 13.184, + -0.0 + ], + [ + 1792.116, + -163.444, + 98.15, + 0.0, + 13.184, + -0.0 + ] + ], + "Rationale": [ + "Four concrete barriers line the curb ahead, and counting from the left end, my target is the second one, the block sitting just left of the paved walkway to the porch. They all look alike, so I hold onto that walkway edge as its marker. I step forward toward it.", + "The barrier beside the walkway is larger now and still a fair distance off across the road. Nothing blocks the straight line between us, so I keep walking forward.", + "The barriers now loom near the bottom of my view and the leftmost is sliding toward the frame edge, so I stop reading the row and simply track the block flanking the walkway. It sits slightly left of my heading but well within reach of a straight advance. I move forward again.", + "The block left of the walkway now fills my near foreground, with the walkway pavement running up to the porch on its right. Only a short gap of road remains, so I take one more step to close it.", + "The concrete barrier beside the front walkway stands immediately in front of me, filling my lower view. I have reached it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001312_y-001267_z000148_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001312_y-001267_z000148_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..830cfe97d5e285b4fd0a4eeee8a4b14c58020007 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001312_y-001267_z000148_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the patio table.", + "Type": 0, + "Start_Pose": [ + 1312.275, + -1267.103, + 148.265, + -0.301, + 4.797, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1312.275, + -1267.103, + 148.265, + -0.301, + 4.797, + -0.0 + ], + [ + 1437.691, + -1256.578, + 149.883, + -0.301, + 4.797, + 0.0 + ], + [ + 1563.108, + -1246.053, + 149.883, + -0.301, + 4.797, + 0.0 + ], + [ + 1688.524, + -1235.528, + 148.284, + -0.301, + 4.797, + 0.0 + ], + [ + 1813.941, + -1225.003, + 149.775, + -0.301, + 4.797, + 0.0 + ], + [ + 1851.847, + -1185.274, + 148.352, + -0.301, + 4.797, + 0.0 + ], + [ + 1851.847, + -1185.274, + 148.352, + -0.301, + 4.797, + 0.0 + ] + ], + "Rationale": [ + "I can see the patio table with its umbrella and chairs straight ahead at the far end of the paved walkway, roughly centered in my view. My heading already lines up with it, so no turn is needed and I will move forward along the pavement to close the long gap.", + "The umbrella and table are noticeably larger and still centered ahead of me, confirming my heading is good. The concrete path in front is clear, so I will continue forward to keep closing the distance.", + "The patio table with two chairs now fills a good part of the middle of my view, but I am still several steps short of standing at it. Since my alignment remains straight on the table, I will keep advancing over the open paving.", + "The table top and chairs are close now, with the umbrella canopy spreading across the upper part of my view. A short additional step forward should bring me right up beside the table, so I will move forward again.", + "I am nearly at the table edge, with the umbrella pole and tabletop dominating the lower foreground and a chair just to my right. One last small step forward should place me directly at the patio table.", + "The patio table edge, its umbrella pole, and an adjacent chair are directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001318_y002104_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001318_y002104_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..030eef6809c63b1b4755feb6a370c22d709ffa11 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001318_y002104_z000468_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Look around the bedroom until the white paneled door comes into view, then open it.", + "Type": 4, + "Start_Pose": [ + 1318.493, + 2103.858, + 468.15, + 0.0, + 9.622, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1318.493, + 2103.858, + 468.15, + 0.0, + 9.622, + 0.0 + ], + [ + 1318.493, + 2103.858, + 468.15, + 0.0, + -15.378, + 0.0 + ], + [ + 1318.493, + 2103.858, + 468.15, + 0.0, + -40.378, + 0.0 + ], + [ + 1318.493, + 2103.858, + 468.15, + 0.0, + -65.378, + 0.0 + ], + [ + 1318.493, + 2103.858, + 468.15, + 0.0, + -90.378, + 0.0 + ], + [ + 1318.493, + 2103.858, + 468.15, + 0.0, + -115.378, + 0.0 + ], + [ + 1259.359, + 2058.494, + 468.15, + 0.0, + -115.378, + 0.0 + ], + [ + 1205.417, + 1944.781, + 468.15, + 0.0, + -115.378, + 0.0 + ], + [ + 1205.417, + 1944.781, + 468.15, + 0.0, + -115.378, + 0.0 + ], + [ + 1201.567, + 1836.04, + 468.15, + 0.0, + -115.378, + 0.0 + ], + [ + 1201.567, + 1836.04, + 468.15, + 0.0, + -140.378, + 0.0 + ], + [ + 1201.567, + 1836.04, + 468.15, + 0.0, + -140.378, + 0.0 + ], + [ + 1201.567, + 1836.04, + 468.15, + 0.0, + -140.378, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing a blank corner of the bedroom with only a nightstand, lamp and the edge of the bed in view, so no door is visible yet. I will turn left to sweep my view across the room and start searching for the white paneled door.", + "My sweep has brought the bed, headboard and framed pictures into view, but I still see no white paneled door along this wall. I will keep turning left, since the room continues to open up in that direction.", + "The window wall and a dresser are now in front of me, which tells me I am looking at the far side of the bedroom rather than at any doorway. I will continue turning left to reveal the wall beyond the window, where a door is more likely to be.", + "I can now see the left part of the room with louvered closet fronts and more open floor, and the wall continues past the frame on my left where I have not looked yet. I will turn left once more to bring that remaining wall into view and check it for the paneled door.", + "The white paneled door is now visible on the left wall, but it sits near the left edge of my view at an oblique angle. I will turn left again to center it in front of me so I can head straight toward it.", + "The white paneled door is now in view ahead on the left wall of the bedroom, past the louvered closet fronts. It is still several steps away, so I will move forward to close that gap before I can reach its handle.", + "The paneled door is closer now and occupies more of my left field of view, but I am still short of arm's reach from its latch. I will advance again to bring myself alongside the door where an opening attempt should be possible.", + "I am right beside the white paneled door and its brass lever and deadbolt fill the near part of my view. This looks like interaction range, so I will try to open it now.", + "My attempt to open the door left it exactly as it was, still shut in front of me, so my body is probably not quite positioned for a valid interaction. I will step forward to press closer to the door leaf and improve my chance of engaging it.", + "After stepping in, my view is filled by a flat pale surface with only a jamb edge on the left, so the door leaf and its handle are no longer framed in front of me. I will turn left to swing my heading back onto the paneled door itself so I can face it squarely.", + "My earlier attempt on this white paneled door left it shut, so I closed the remaining distance and turned to face the panel and its jamb squarely, which now fill my view. From this tighter, better squared position the latch edge is directly in front of me, so I will try the opening interaction again. This alignment should give the handle a proper contact this time.", + "The paneled door now stands swung inward, revealing the hallway floor and table beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001319_y001569_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001319_y001569_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c08fcec8f7bb1d90e3ec6f311e83cb4ad36097a9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001319_y001569_z000468_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the dresser against the wall on the right.", + "Type": 2, + "Start_Pose": [ + 1318.896, + 1568.922, + 468.15, + -0.05, + 65.061, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1318.896, + 1568.922, + 468.15, + -0.05, + 65.061, + 0.0 + ], + [ + 1318.896, + 1568.922, + 468.15, + -0.05, + 90.061, + 0.0 + ], + [ + 1318.762, + 1694.781, + 468.15, + -0.05, + 90.061, + 0.0 + ], + [ + 1318.762, + 1694.781, + 468.15, + -0.05, + 115.061, + 0.0 + ], + [ + 1265.45, + 1808.791, + 468.15, + -0.05, + 115.061, + 0.0 + ], + [ + 1212.139, + 1922.801, + 468.15, + -0.05, + 115.061, + 0.0 + ], + [ + 1202.063, + 2027.174, + 468.15, + -0.05, + 115.061, + 0.0 + ], + [ + 1202.063, + 2027.174, + 468.15, + -0.05, + 115.061, + 0.0 + ] + ], + "Rationale": [ + "The dresser I want is the one standing against the right-hand wall, its top cluttered with a vase and small containers, and from here it sits at the far edge of my view. Turning right should bring that wall and the dresser into the center of my heading before I walk.", + "The dresser with the stacked items on top is now ahead of me beside the paneled door, with clear carpet between us. I will walk forward to close that distance.", + "From this closer position the dresser sits right of my heading, with the bed filling the left side of my view. A turn to the right should put the dresser squarely in front of me so the remaining walk is a straight approach.", + "The dresser against the wall is now centered ahead of me, the vase and canisters on its top clearly in line with my heading. Nothing stands between us, so I will step forward to shorten the gap.", + "The dresser has grown noticeably larger in front of me and I can now read the drawer fronts and the vase on its top. I am still a stride or two away from it, so I will keep walking forward.", + "The dresser now dominates the left of my view and its top edge with the vase is close to eye level, but a little floor still separates us. One more forward step should bring me right up against it.", + "The dresser top with its vase, canisters and book is directly before me at arm's length against the wall. I have arrived at the target, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001323_y000405_z000109_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001323_y000405_z000109_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f3dc9a07bf4db63d2cd9f372d42220ed19651b14 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001323_y000405_z000109_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the leftmost concrete roadblock.", + "Type": 2, + "Start_Pose": [ + 1323.419, + 404.907, + 108.769, + 0.0, + -27.141, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1323.419, + 404.907, + 108.769, + 0.0, + -27.141, + 0.0 + ], + [ + 1323.419, + 404.907, + 108.769, + 0.0, + -52.141, + 0.0 + ], + [ + 1400.661, + 305.538, + 98.15, + 0.0, + -52.141, + 0.0 + ], + [ + 1477.903, + 206.17, + 98.15, + 0.0, + -52.141, + 0.0 + ], + [ + 1555.146, + 106.801, + 98.15, + 0.0, + -52.141, + 0.0 + ], + [ + 1632.388, + 7.432, + 98.15, + 0.0, + -52.141, + 0.0 + ], + [ + 1709.63, + -91.936, + 98.15, + 0.0, + -52.141, + 0.0 + ], + [ + 1786.872, + -191.305, + 98.15, + 0.0, + -52.141, + 0.0 + ], + [ + 1786.872, + -191.305, + 98.15, + 0.0, + -27.141, + 0.0 + ], + [ + 1881.259, + -238.657, + 98.15, + 0.0, + -27.141, + 0.0 + ], + [ + 1881.259, + -238.657, + 98.15, + 0.0, + -27.141, + 0.0 + ], + [ + 1881.259, + -238.657, + 98.15, + 0.0, + -27.141, + 0.0 + ] + ], + "Rationale": [ + "Four concrete roadblocks stand in a line along the near curb, and the one furthest left sits apart past the end of the white picket fence, beside the tall hedge. That block lies well left of my current heading, so I turn left to bring it in front of me.", + "The roadblock by the hedge now lies ahead of me on the right side of the street, but it is still far down the road. I step forward along the pavement to begin closing that distance.", + "The block standing where the hedge meets the picket fence is clearly nearer, yet still several strides away up the road. My path along the street stays clear, so I keep walking straight toward it.", + "Only two blocks remain in my view now, since the nearer ones have fallen behind me, and the one I want is the left of this pair, set against the hedge. I continue forward to keep closing on it.", + "The block against the hedge is noticeably bigger ahead of me, though still beyond arm's reach along the curb. I advance again down the open street toward it.", + "The hedge-side block now fills much of the lower view, but I am not yet standing beside it. Another step forward should bring me nearly level with it at the curb.", + "The block I am heading for sits just ahead beside the grass strip, with the street sign and hedge behind it confirming this is the one apart from the rest. I take one more step to draw level with it.", + "The block I have been walking toward is now very close but sits low and slightly right of where I face, with the row no longer readable from here. I turn right to square up with it before the final step.", + "Squared up now, the block I want sits low in front of me at the edge of the grass strip, with its lifting rings clearly visible. One short step should put me right up against it.", + "My forward gaze now shows only lawn, fence and house, because the block has dropped beneath my line of sight after that last step. I look down to bring it back into view and confirm I am standing right beside it.", + "The hedge-side concrete block fills the lower view directly at my feet, its lifting rings within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001325_y001773_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001325_y001773_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3abb4e414d424752a64143e0e03c62093d169c2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001325_y001773_z000468_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Turn away from the window and louvered wardrobe, find the bedroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 1325.211, + 1772.894, + 468.15, + 0.0, + -114.07, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + -114.07, + 0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + -89.07, + 0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + -64.07, + 0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + -39.07, + 0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + -14.07, + 0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 10.93, + -0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 35.93, + -0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 60.93, + -0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 85.93, + -0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 110.93, + -0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 135.93, + -0.0 + ], + [ + 1325.211, + 1772.894, + 468.15, + 0.0, + 160.93, + -0.0 + ], + [ + 1206.259, + 1814.015, + 468.15, + 0.0, + 160.93, + -0.0 + ], + [ + 1206.259, + 1814.015, + 468.15, + 0.0, + 160.93, + -0.0 + ], + [ + 1206.259, + 1814.015, + 468.15, + 0.0, + 160.93, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the louvered wardrobe doors and built-in dresser with the window off to my right, so none of this wall can be the bedroom door I need. I will turn right to begin sweeping my view away from the wardrobe and window and toward the unseen parts of the room. This should start bringing new wall surfaces into view where a door may stand.", + "The dresser wall and a second window are now in front of me, with a small chest and plant appearing at the right edge, and still no doorway. Continuing to rotate right should carry my view past this window wall into the part of the room I have not inspected. I will turn right again to keep the search moving in one consistent direction.", + "I can see a corner of the room with a window on the left, the small chest ahead, and a curtained window with a bench on the right, so this side is all glazing and furniture. There is no door frame here, so I will turn right again to keep scanning past the curtained window. More of the room's far walls should come into view.", + "The wide curtained window now dominates my view with the bench below it, confirming I am still looking at the exterior wall rather than any exit. Turning right again should sweep my heading off this window wall toward the room's interior walls. I will continue the rotation in the same direction to avoid recovering ground I have already checked.", + "The curtain edge has slid to my left and a nightstand with a lamp plus the corner of a bed are now entering from the right, so I am finally turning off the window side. A bedroom door is more likely along the walls beyond the bed, so I will keep rotating right. This should reveal the interior wall behind the bed.", + "I am now looking at the bed's headboard against a plain wall with framed pictures and nightstands on either side, and there is still no door in sight. Turning right should bring the wall past the far nightstand into view, which is a plausible place for the bedroom door. I will continue the same rightward sweep.", + "The bed now angles across the lower part of my view and I can see a corner with pictures on the wall to the right, but no door frame yet. Rotating right again should expose the remaining wall on the far side of the bed. I will keep turning until a door edge or handle appears.", + "I am facing the wall with framed prints beyond the foot of the bed, and the open floor on the right suggests the wall continues around a corner I cannot yet see. I will turn right again to bring that remaining stretch of wall into view where the bedroom door likely sits. Each step of this sweep narrows down the only unchecked side of the room.", + "Turning away from the window side has brought the bed, nightstands and a chest of drawers into view, but this stretch of wall holds only framed pictures and no doorway. I will keep rotating right to sweep the remaining unseen corner of the room where the bedroom door is most likely to be.", + "A white paneled door with a brass knob has just appeared at the far right edge of my view, so the bedroom door is in that direction. I will turn right again to bring it away from the edge and more fully into sight.", + "The paneled door is now clearly visible with its knob, but it still sits right of my heading and is partly cut by the frame edge. One more turn to the right should square my body with the door so I can walk straight at it.", + "The bedroom door now fills the center of my view and I am facing it squarely, but I am still several paces back from the handle. I will step forward to close that gap and get within reach of the knob.", + "The door panels now fill my whole view, so I am standing directly against the closed bedroom door and within arm's reach of its latch. I will try to open it now, which should swing the door clear of the frame.", + "The bedroom door stands open and the hallway with its railing and stairs is visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001327_y001928_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001327_y001928_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fbe0100bf1833419a13586c865cc6a238d321144 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001327_y001928_z000168_t1_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Search the area and go to the television.", + "Type": 1, + "Start_Pose": [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -43.435, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -43.435, + 0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -68.435, + 0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -93.435, + 0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -118.435, + 0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -143.435, + 0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + -168.435, + 0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 166.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 141.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 116.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 91.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 66.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 41.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 16.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 41.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 66.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 91.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 116.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 141.565, + -0.0 + ], + [ + 1326.518, + 1927.864, + 168.15, + 0.0, + 166.565, + -0.0 + ], + [ + 1204.103, + 1957.106, + 168.15, + 0.0, + 166.565, + -0.0 + ], + [ + 1204.103, + 1957.106, + 168.15, + 0.0, + -168.435, + 0.0 + ], + [ + 1082.581, + 1941.596, + 168.15, + 0.0, + -168.435, + 0.0 + ], + [ + 959.277, + 1916.363, + 168.15, + 0.0, + -168.435, + 0.0 + ], + [ + 835.973, + 1891.131, + 168.15, + 0.0, + -168.435, + 0.0 + ], + [ + 712.669, + 1865.899, + 168.15, + 0.0, + -168.435, + 0.0 + ], + [ + 712.669, + 1865.899, + 168.15, + 0.0, + -143.435, + 0.0 + ], + [ + 611.582, + 1790.921, + 168.15, + 0.0, + -143.435, + 0.0 + ], + [ + 510.494, + 1715.942, + 168.941, + 0.0, + -143.435, + 0.0 + ], + [ + 510.494, + 1715.942, + 168.941, + 0.0, + -143.435, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a kitchen facing counters, a sink and a refrigerator, with no television anywhere in view. Since kitchens rarely hold a television, I will begin a steady leftward scan to find an opening toward other rooms.", + "Turning left has brought an exterior door with side windows into view, but still only kitchen cabinets and countertop, no television. I will keep rotating the same way to look past this wall for an interior passage.", + "I now face the entry door straight ahead with tall glass-front cabinetry on the left, and there is still no television in this room. Continuing the same leftward sweep should reveal whatever lies beyond that cabinet wall.", + "The view is dominated by the cabinet unit with the door now off to my right, and no television has appeared in this kitchen. I will continue turning left, since the open floor beyond that cabinetry looks like the way into another room.", + "Past the edge of the cabinet I can now see a hallway with another interior door, which suggests more living space in that direction. I will keep turning left to bring that opening fully into view rather than stopping on this blank wall.", + "My continuing leftward sweep has now opened onto a stair hall past the tall cabinet, but there is still no television anywhere in view. Since a staircase and a closed interior door suggest living space further around this side, I will keep turning left in the same direction to reveal the rest of that opening. Holding one consistent scan direction keeps my coverage of the room complete rather than jumping back and forth.", + "The full staircase and the entry door are now centered in front of me, and no television is present on this wall. Nothing here matches the target, so I will continue the same leftward rotation to bring the still unseen part of this open area into view.", + "Chairs and a hanging lamp are just entering the left of my view, so a dining area sits on that side while the stair wall on the right holds no television. I will keep rotating left to see that furnished corner properly, since seating areas are a reasonable place for the target.", + "The dining table with its chairs and window wall is now fully in front of me, and there is no television on any surface or wall here. This area is ruled out, so I will continue the same leftward turn toward the part of the room still hidden beyond the left window wall.", + "Cabinetry and stacked plates are appearing on the left, so my sweep is now running back into the kitchen side, and the dining wall I just faced held no television. Since this stretch offers no target, I will keep turning left to finish covering the remaining unseen angles of this space.", + "From here I only see the range, upper cabinets, and the window over the breakfast table, with no television anywhere in this kitchen corner. I will keep rotating left in the same consistent direction so the sweep stays systematic and covers the remaining wall toward the appliances I began facing.", + "The cooktop wall and glass-front cabinet in front of me still show no television, so this part of the kitchen is ruled out. Continuing left should bring the tall refrigerator side of the room back into view, which would tell me the sweep has come around to where I started.", + "The refrigerator and glass cabinetry now edging into view overlap what I faced at the very start, so my full turn around this kitchen is finished and no television appeared anywhere in it. Since scanning in place has not found the target, I will reverse my rotation and swing back toward the open hallway and staircase I passed during the sweep, which is a more likely route to a living area.", + "I am back on the kitchen work wall with the range and side window, which I have already checked and where no television is present. I will keep turning right to swing my heading further toward the open doorway side of the room rather than search this counter again.", + "The breakfast table and chairs are now entering the right side of my view, meaning the open side of the kitchen is coming around toward my heading. I will continue turning right to line up with that dining opening, since it leads toward the hallway and stairs where a living room is more likely to be.", + "The dining nook with its round table, the counters and the cabinets in front of me contain no television, and sweeping to the left only returned me to this kitchen side of the house. I am now reversing the scan direction and turning right, back toward the open hall with the staircase that I noticed a moment ago, since that side leads to unsearched space.", + "The staircase is now appearing at the right edge of my view while the dining table still fills the foreground, so I have not yet faced the open hall. I continue turning right to bring that stair area and the floor beyond it fully in front of me.", + "The staircase and the closed door beside it are now centered, and open floor continues off to the right past the dining chairs. Since no television is anywhere in this room, I turn right once more to line up with that open stretch of hallway before moving.", + "I am now facing the open hall beside the staircase, with clear floor ahead and a wall edge on my right hinting at another room past it. The kitchen and dining side held no television, so I step forward into this corridor to reveal what lies beyond the stairs.", + "Advancing along the stair hall has opened up the room to my right, and I can now see a lit television standing on a low dresser under a shelf. I turn right to put that television directly ahead of me so I can walk straight to it.", + "Looking past the staircase and through the opening ahead, I can see a lit television sitting on a low dresser in the far room, so the search has paid off. My heading is now lined up with that gap in the wall, so I will step forward to close the long distance between me and the set.", + "The wall edge that framed my view has fallen away and the living room is now open in front of me, with the television still glowing ahead on its dresser. The floor between me and it is clear apart from the sofa well off to the right, so I will keep walking straight toward the screen.", + "The television is larger in view now and still roughly ahead of me, its screen clearly lit above the dresser drawers. Nothing stands between me and the rug in front of it, so another step forward should shrink the remaining gap.", + "I am well inside the living room and the television on the dresser is close ahead and slightly to my right, with only the rug and a small side table nearby. I will advance again to get within a proper standing distance of the screen before fine tuning my heading.", + "From this close position the television has drifted to the right side of my view while the closed door and blank wall fill the left half, so my body is aimed past the target rather than at it. I will turn right to bring the screen back toward the middle of my view before continuing.", + "The television sits on the low white dresser ahead of me, now near the middle of my view after the last heading adjustment. It is still several paces off, so I will walk forward to close that gap.", + "The television now fills a large part of my view, so the previous step clearly brought me closer. I am still a short distance from the dresser, so I will step forward again to stand right at the screen.", + "The television screen is directly in front of me at arm's length, filling the left of my view. The task target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001339_y001665_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001339_y001665_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5b2fb757014d1b32ab20d1d6c24db357c1751c20 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001339_y001665_z000468_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Find a clock and go close to it.", + "Type": 1, + "Start_Pose": [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -57.439, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -57.439, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -32.439, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -7.439, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 17.561, + -0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 42.561, + -0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 67.561, + -0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 92.561, + -0.0 + ], + [ + 1333.491, + 1791.077, + 468.15, + 0.0, + 92.561, + -0.0 + ], + [ + 1328.293, + 1870.018, + 468.15, + 0.0, + 92.561, + -0.0 + ], + [ + 1324.084, + 1870.018, + 468.15, + 0.0, + 92.561, + -0.0 + ], + [ + 1324.084, + 1870.018, + 468.15, + 0.0, + 117.561, + -0.0 + ], + [ + 1262.356, + 1904.543, + 468.15, + 0.0, + 117.561, + -0.0 + ], + [ + 1262.356, + 1904.543, + 468.15, + 0.0, + 92.561, + -0.0 + ], + [ + 1256.732, + 2030.277, + 468.15, + 0.0, + 92.561, + -0.0 + ], + [ + 1256.732, + 2030.277, + 468.15, + 0.0, + 67.561, + -0.0 + ], + [ + 1256.732, + 2030.277, + 468.15, + 0.0, + 42.561, + -0.0 + ], + [ + 1306.586, + 2116.712, + 468.15, + 0.0, + 42.561, + -0.0 + ], + [ + 1306.586, + 2116.712, + 468.15, + 0.0, + 17.561, + -0.0 + ], + [ + 1306.586, + 2116.712, + 468.15, + 0.0, + -7.439, + 0.0 + ], + [ + 1431.382, + 2100.673, + 468.15, + 0.0, + -7.439, + 0.0 + ], + [ + 1431.382, + 2100.673, + 468.15, + 0.0, + -7.439, + 0.0 + ], + [ + 1431.382, + 2100.673, + 468.15, + 0.0, + -7.439, + 0.0 + ] + ], + "Rationale": [ + "I need to find a clock, but from here I only see a bright window, a blank wall corner, and a low dresser holding a small framed picture and a potted plant. No clock is anywhere in this narrow view, so I will turn right to begin a steady scan of the room in one consistent direction.", + "The new heading shows the same dresser, a curtained window, and the corner of a cushioned bench, and still no clock on any surface. I will keep rotating right to keep the scan consistent and uncover more of the room's furniture.", + "This view is mostly a wide curtained window with the bench beneath it, and the only nearby surface, the dresser at the left edge, carries just a plant. A clock is a small tabletop object, so I need to reveal the rest of the room rather than dwell on this wall. I will continue the rightward scan.", + "Turning right has now brought a nightstand with a lit lamp into the right side of the view, which is exactly the kind of surface where a bedside clock would sit, though I cannot make out a clock on it yet. I will turn right again to bring that bedside area and the rest of the room more fully in front of me.", + "The bed is now visible with a lamp-topped nightstand on each side, a strong cue that a small clock is likely resting on one of those bedside surfaces. Nothing clock-like is distinguishable at this distance and angle, so I will keep turning right to expose the far nightstand and the remaining wall.", + "My steady rightward scan has swept past the window, the bed and the nightstand with its lamp, and I still see no clock on any of those surfaces. I will keep rotating right in the same direction to bring the remaining unseen part of the room, toward the far wall and dresser, into view.", + "Now facing the far side of the room I can see a chest of drawers against the right wall with small items on its top, and a doorway beyond it, but from here those objects are too far to identify. The floor between the bed and that dresser looks clear, so I will walk forward to get near those surfaces where a clock would plausibly sit.", + "Stepping in has brought the dresser top closer, and I can now make out a lamp on the nightstand at my left with a small dark object beside it that might be a clock. I will continue forward to close the distance and get a clearer look at both candidate surfaces before committing.", + "The dresser to my right and the small dark object beside the nightstand lamp on my left are both nearer now, but neither is yet close enough for a confident approach. I will take another step forward along this heading to shorten the gap toward those surfaces.", + "My last step forward barely moved me, since the view is almost unchanged and the bed corner is crowding my path ahead. I will turn right toward the open carpet beside the dresser to look for a clear route rather than pushing into whatever is blocking me.", + "My previous forward push barely changed my position, since the bed corner was crowding my path, so I have swung right onto the open carpet that leads toward the chest of drawers. From here the floor ahead looks clear, and the drawer top with its vase and small boxes is a plausible spot for a small clock, so I will walk forward to inspect it more closely. If nothing clock-like appears there, I still gain a better vantage on this side of the room.", + "Now that I am close to the chest of drawers, its top holds only a vase and a couple of small boxes, no clock, and the bare wall sits directly ahead of my heading. Turning left pulls me off this dead corner and opens the longer stretch of the room, including the wall and the bed side, for a better look. This should give me a passable line instead of pressing into the corner.", + "With my heading shifted off the corner, I can see the framed pictures on the wall ahead and the bed edge at my lower left, so the floor between them is walkable. I will step forward to close on that wall and get near enough to make out any small object resting on the nearby surfaces. Moving up here should also put me in position to sweep the bedside area next.", + "I am now right up against the wall, with only a framed ship photograph in front of me and the drawer top at my right holding a book and a striped bowl, so no clock is on this side. Continuing straight is pointless at this distance, so I will turn left to swing my view back across the room. That should bring the unexamined bedside corner into my field of view.", + "The first left turn brought the picture wall and its corner into view, and a pale piece of furniture is just appearing at the lower left edge of my view. I will turn left again to bring that bedside surface fully in front of me, since a small clock is most likely sitting on a nightstand rather than on these bare walls. This continues my sweep in one consistent direction instead of doubling back.", + "On the nightstand to my left, beside the lit lamp, I can see a small dark digital clock with glowing red digits, which matches the target I am searching for. It is still several paces away across the corner of the room, so I will step forward to close that gap before fine tuning my heading.", + "My forward step carried me right up against the blank wall and the corner, and the nightstand with the clock has slipped almost entirely off the lower left edge of my view. Continuing straight ahead would only press me into the wall, so I will turn left to bring the nightstand and its clock back into the center of my view.", + "The turn brought the nightstand back into sight, and the small clock with red digits is clearly visible beside the lamp, but it still sits well left of my center of view with the wall edge crowding the right side. I will turn left once more so my heading points squarely at the nightstand for a clean straight approach.", + "Now the nightstand with the lamp and the small dark clock is centered ahead of me, with the bed and headboard on my left and a clear stretch of carpet between us. I will walk forward to get within close range of the clock.", + "I am now right beside the nightstand, so close that the lamp shade fills the lower right of my view and the tabletop with the clock falls below my line of sight. I will tilt my gaze downward so the clock itself comes back into view and I can confirm I am standing next to it.", + "The digital alarm clock sits on the nightstand directly in front of me, close and clearly in view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001339_y001665_z000468_t1_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001339_y001665_z000468_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8e92bc4c8849b10668cd4e2cb2c01d2bf7f77fa2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001339_y001665_z000468_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Find and go to the bed.", + "Type": 1, + "Start_Pose": [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -114.593, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -114.593, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -89.593, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -64.593, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -39.593, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + -14.593, + 0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 10.407, + -0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 35.407, + -0.0 + ], + [ + 1339.115, + 1665.344, + 468.15, + 0.0, + 60.407, + -0.0 + ], + [ + 1401.269, + 1774.785, + 468.15, + 0.0, + 60.407, + -0.0 + ], + [ + 1436.202, + 1869.694, + 468.15, + 0.0, + 60.407, + -0.0 + ], + [ + 1436.202, + 1869.694, + 468.15, + 0.0, + 60.407, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a built-in wardrobe with drawers filling the left side and a bright window on the right, with no bed anywhere in view. The tall cabinetry blocks any further look to the left, so the open space beyond the window side is the more promising direction. I will turn right to begin a consistent scan of this room.", + "Now I face a plain wall with a single tall window, and still no bed is in sight. A pale furniture edge is just appearing at the lower right, which suggests more of the room lies that way. I will keep rotating right to bring that area into view.", + "A low chest of drawers with a framed picture and a potted plant has come into view beside the window, which is a good sign that this is a bedroom. The bed itself is still not visible, so the scan is not finished. I will continue turning right in the same direction to uncover the rest of the room.", + "The dresser is now on my left and a curtained window fills the right side, with what looks like the corner of an upholstered bench appearing at the bottom right. Bedroom furnishings are accumulating, but the bed is still outside my field of view. I will keep the rotation going to the right toward that bench area.", + "I am looking at a wide curtained window with a long bench sitting under it, so this is clearly a bedroom, yet no bed has appeared. The room continues past the right edge of the curtain, which is the only unscanned side left. I will turn right again to look there.", + "The bench and drapes are centered ahead, and at the right edge I can now make out a small nightstand with a lit lamp. A bedside table strongly implies the bed is just beyond it, off to my right. I will turn right to bring that corner of the room into view.", + "The bed is now visible on the right side of my view, with its headboard, pillows and striped cover next to the lamp-lit nightstand. It sits off my current heading, so walking straight would angle me past it. I will turn right once more to center the bed before advancing.", + "The bed now sits squarely ahead of me, with the headboard against the far wall and clear carpet between us. Nothing blocks the path, so closing the remaining distance is the direct next step. I will walk forward toward the bed.", + "The bed with its striped cover, pillows, and headboard fills the right side of my view, but I am still a stride or two short of standing at it. I will walk forward again to close that last gap and bring the bedside directly in front of me.", + "The bed's headboard, pillows, and mattress are directly in front of me at arm's reach. The task of reaching the bed is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001355_y-001563_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001355_y-001563_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62a4cf3c05de0bec64f6b9a4d96b8c9373ee8e00 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001355_y-001563_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white side door between the two garage work areas.", + "Type": 4, + "Start_Pose": [ + 1355.495, + -1562.85, + 168.15, + 0.0, + -129.725, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1355.495, + -1562.85, + 168.15, + 0.0, + -129.725, + 0.0 + ], + [ + 1275.058, + -1659.651, + 168.15, + 0.0, + -129.725, + 0.0 + ], + [ + 1194.621, + -1756.452, + 168.15, + 0.0, + -129.725, + 0.0 + ], + [ + 1194.621, + -1756.452, + 168.15, + 0.0, + -104.725, + 0.0 + ], + [ + 1162.63, + -1878.177, + 168.15, + 0.0, + -104.725, + 0.0 + ], + [ + 1133.629, + -1948.379, + 168.15, + 0.0, + -104.725, + 0.0 + ], + [ + 1133.629, + -1948.379, + 168.15, + 0.0, + -104.725, + 0.0 + ], + [ + 1133.629, + -1948.379, + 168.15, + 0.0, + -104.725, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white side door in the far wall is clearly the interior door named in the task, and it sits well ahead of me across the open garage floor. I will move forward over the clear concrete to close that distance before worrying about fine alignment.", + "The door and its frame have grown larger and its brass handle is now discernible, so my forward motion is closing on the target. I am still several steps away from reach, so I will continue straight ahead.", + "The white door has drifted to the right edge of my view while the workbench dominates the left, so my heading is angled away from the doorway. I will turn right to bring the door and its handle back toward the center of my view for a straight approach.", + "The door is now centered in front of me with its handle plainly visible on the left side of the panel. I will move forward along this heading to bring the handle within interaction range.", + "The door panel now fills nearly my whole view, but the handle still sits toward the left edge and I am probably just outside comfortable reach. I will take one more short step forward to settle directly at the handle.", + "I am right at the door with the brass lever handle and lock filling the near part of my view, so I am within reach of the mechanism. I will operate the handle now, which should release the latch and swing the door open.", + "The doorway now stands open onto a lit hallway with a rug and framed picture beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001361_y001632_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001361_y001632_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3567a8da3052c172ead35ed6f9445bb6471b4bbf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001361_y001632_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the environment to find the main stairs and go to the bottom step.", + "Type": 1, + "Start_Pose": [ + 1360.868, + 1631.932, + 168.15, + -0.05, + 1.211, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1360.868, + 1631.932, + 168.15, + -0.05, + 1.211, + 0.0 + ], + [ + 1360.868, + 1631.932, + 168.15, + -0.05, + 26.211, + -0.0 + ], + [ + 1360.868, + 1631.932, + 168.15, + -0.05, + 51.211, + -0.0 + ], + [ + 1360.868, + 1631.932, + 168.15, + -0.05, + 76.211, + 0.0 + ], + [ + 1360.868, + 1631.932, + 168.15, + -0.05, + 101.211, + -0.0 + ], + [ + 1336.398, + 1755.389, + 168.15, + -0.05, + 101.211, + -0.0 + ], + [ + 1311.928, + 1878.847, + 168.15, + -0.05, + 101.211, + -0.0 + ], + [ + 1311.928, + 1878.847, + 168.15, + -0.05, + 126.211, + -0.0 + ], + [ + 1237.576, + 1980.396, + 168.15, + -0.05, + 126.211, + -0.0 + ], + [ + 1237.576, + 1980.396, + 168.15, + -0.05, + 151.211, + 0.0 + ], + [ + 1127.273, + 2041.007, + 168.15, + -0.05, + 151.211, + 0.0 + ], + [ + 1127.273, + 2041.007, + 168.15, + -0.05, + 151.211, + 0.0 + ] + ], + "Rationale": [ + "I am standing right up against a kitchen counter with upper cabinets, a sink and a dishwasher filling my whole view, so no staircase is visible from this heading. I will turn right to begin a consistent scan of the room and look for an opening or hallway that could lead to the main stairs.", + "Turning has brought a refrigerator and the end of the cabinet run into view, which suggests the kitchen opens out somewhere further to my right. No stair rail or steps are visible yet, so I will keep rotating in the same direction to reveal more of the room.", + "I can now see the kitchen give way to open wood flooring with a window and a chair at the far right, so the room continues that way. I will continue turning right to bring that open living area fully into view, since stairs are more likely there than along the counters.", + "The dining table under the pendant light and the wide open floor are now in front of me, but I still see no steps in this part of the room. I will turn right once more to sweep the far wall of this open space, where a stairwell would most plausibly sit.", + "A flight of stairs with a wooden railing is now visible on the right side of the room, past the dining table, which matches the main stairs I am looking for. I will stop scanning and walk forward across the open floor to close distance toward them.", + "The staircase and its railing are noticeably larger and closer on my right, so my forward heading is taking me into the dining area toward it. I will step forward again to keep reducing the distance before I turn to face the steps.", + "Now that I am close to the dining table, the staircase has slid to the very right edge of my view while the table and windows dominate the center. I will turn right to put the stairs back in front of me and line up a clear walking path toward their base.", + "The staircase is now clearly ahead and slightly to my right, with its lowest treads and the open floor in front of them visible. I will walk forward to reach the area at the foot of the stairs.", + "The staircase is now close, but it sits at the right edge of my view with the wall and window filling most of the frame, so the lower treads are cut off. I will turn right to bring the full flight and especially its bottom step into the center of my view for a straight approach.", + "The staircase is now centered ahead of me with its lowest tread clearly visible on the open floor, and the path between me and it is clear. I will walk forward to close the remaining gap and stand at the bottom step.", + "I am standing directly at the bottom tread of the main staircase, which fills the view just ahead of my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001363_y000893_z000123_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001363_y000893_z000123_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..703e4a1178a5bd72d0b70af9719fa5bb126d87d9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001363_y000893_z000123_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Follow the walkway to the white front door on the porch with the American flag and open it.", + "Type": 4, + "Start_Pose": [ + 1362.607, + 892.621, + 123.169, + 0.0, + 102.034, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1362.607, + 892.621, + 123.169, + 0.0, + 102.034, + 0.0 + ], + [ + 1336.366, + 1015.714, + 131.301, + 0.0, + 102.034, + -0.0 + ], + [ + 1310.126, + 1138.807, + 139.433, + 0.0, + 102.034, + -0.0 + ], + [ + 1310.126, + 1138.807, + 139.433, + 0.0, + 77.034, + -0.0 + ], + [ + 1338.365, + 1261.457, + 147.536, + 0.0, + 77.034, + -0.0 + ], + [ + 1366.605, + 1384.107, + 164.957, + 0.0, + 77.034, + -0.0 + ], + [ + 1366.605, + 1384.107, + 164.957, + 0.0, + 102.034, + -0.0 + ], + [ + 1343.205, + 1453.039, + 165.15, + 0.0, + 102.034, + -0.0 + ], + [ + 1343.205, + 1453.039, + 165.15, + 0.0, + 102.034, + -0.0 + ], + [ + 1343.205, + 1453.039, + 165.15, + 0.0, + 102.034, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The concrete walkway runs straight ahead from my feet toward the porch, and the white front door with the American flag hanging to its right is clearly the target. I will move forward along the walkway to close the large remaining distance to the porch.", + "The porch and its white door now fill more of my view, but I am still out on the walkway short of the decking. Another forward step along the same paved line should bring me close enough to work on alignment with the doorway.", + "From this close position the white door sits left of my heading, with the porch post and railing crowding the center and right of my view. I will turn left so the doorway moves toward the middle of my view before I continue advancing.", + "The white door is now framed near the center of my view with the porch decking open in front of me. I will step forward onto the porch to reduce the gap to the door and its handle.", + "I am on the porch with the door directly ahead, though still a bit too far to reach the handle. One more forward step should place me within interaction range of the door.", + "At this range the door slab dominates the right side of my view while the left sidelight and siding take the center, so my heading is skewed off the door. I will turn right to bring the door and its handle into the center of my view for the interaction.", + "The door is now squarely in front of me with the brass knob and handle plainly visible slightly right of center. I will close the last short distance so the handle is within reach for opening.", + "I am right up against the white front door with its brass hardware at the edge of my view, so I am within reach of the handle. I will attempt to open the door, which should give access to the interior.", + "The white front door now stands open, revealing the interior room beyond its swung panel. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001363_y001554_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001363_y001554_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19904a866621c15d85c9b07b36415ce32dab3f68 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001363_y001554_z000168_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "First go to the dining table, then go to the sink.", + "Type": 3, + "Start_Pose": [ + 1362.913, + 1553.776, + 167.903, + -0.301, + 84.156, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1362.913, + 1553.776, + 167.903, + -0.301, + 84.156, + -0.0 + ], + [ + 1375.728, + 1678.979, + 167.903, + -0.301, + 84.156, + -0.0 + ], + [ + 1388.543, + 1804.182, + 167.903, + -0.301, + 84.156, + -0.0 + ], + [ + 1388.543, + 1804.182, + 167.903, + -0.301, + 109.156, + -0.0 + ], + [ + 1347.244, + 1923.071, + 167.903, + -0.301, + 109.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + 109.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + 109.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + 84.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + 59.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + 34.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + 9.156, + -0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + -15.844, + 0.0 + ], + [ + 1317.192, + 2003.539, + 168.149, + -0.301, + -40.844, + 0.0 + ], + [ + 1412.403, + 1921.228, + 168.149, + -0.301, + -40.844, + 0.0 + ], + [ + 1412.403, + 1921.228, + 168.149, + -0.301, + -65.844, + -0.0 + ], + [ + 1419.6, + 1810.167, + 168.149, + -0.301, + -65.844, + -0.0 + ], + [ + 1419.6, + 1810.167, + 168.149, + -0.301, + -40.844, + 0.0 + ], + [ + 1419.6, + 1810.167, + 168.149, + -0.301, + -40.844, + 0.0 + ] + ], + "Rationale": [ + "The round dining table with its chairs sits well down the room ahead and slightly to my right, past the counter run. I will walk forward along the open floor to close that distance before worrying about the sink behind me.", + "The table and its chairs have grown larger ahead of me, so my heading down this open lane is working. Nothing blocks the floor between me and the dining area, so I will keep walking forward.", + "The dining table now sits off to my right while my heading still runs down the cabinet wall toward the stove. A small turn to the right should place the table squarely in front of me for a straight approach.", + "The turn has brought the table and its three chairs near the middle of my view, with the pendant lamp hanging above it. With a clear floor between us, I will step forward toward it.", + "The table now fills the lower part of my view with a chair right in front of me and the windows just beyond. One more step forward should bring me right up against the table edge.", + "The round tabletop with its candlestick and flanking chairs is directly under me, close enough to touch. I have reached the dining table. I mark arriving here before turning back into the kitchen to find the sink along the counter.", + "Standing at the table I face only windows and the fence outside, so the counter with the sink lies well behind my left shoulder. I will turn left to begin swinging my heading back toward the kitchen wall.", + "The rotation has brought a cabinet edge and a strip of countertop into the left of my view, so the kitchen run is coming around as expected. I will turn left again to keep bringing that counter and its sink toward the center.", + "Having reached the round table, I am now swinging away from it toward the kitchen run, where stacked plates and the cabinet fronts sit at the left of my view. No sink is in sight yet, so I will turn left again to bring more of that counter line in front of me.", + "The cooktop and oven are now centered ahead, confirming I am facing the working side of the kitchen, but the basin I want is still not visible. Turning left again should carry my heading further along this cabinet run toward the far end where a faucet may appear.", + "The range hood and cooktop fill the middle of my view while tall glass-front cabinets stand at my left, so my heading is still short of the far kitchen wall. Another left turn should sweep past those cabinets toward the deeper part of the room.", + "The refrigerator and pantry doors now block most of my view, but at the far left edge I can make out a countertop with a faucet above it. One more left turn should put that basin area more centrally ahead of me so I can walk straight at it.", + "The galley now opens ahead of me with the faucet and basin along the left counter and clear floor between us. I will step forward to close that distance.", + "The refrigerator now crowds the whole right of my view and the basin with its faucet sits close on my left, meaning my heading runs past rather than toward it. Turning left should open the aisle beside the counter so I can continue on to the sink.", + "The aisle is clear ahead toward the side door, with the counter, faucet and basin running along my right. Stepping forward should bring me level with the sink itself.", + "I am standing beside the counter with the double basin and faucet off to my right, while my heading still points down the aisle at the door. A right turn should square me up facing the sink.", + "The double basin sink and its faucet are directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001366_y-000238_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001366_y-000238_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3dcea3917065a5db6212b8052bb40114e9a3ebed --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001366_y-000238_z000098_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the right-side barrier that is second from the right.", + "Type": 2, + "Start_Pose": [ + 1365.671, + -238.072, + 98.15, + 0.0, + 22.944, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1365.671, + -238.072, + 98.15, + 0.0, + 22.944, + -0.0 + ], + [ + 1365.671, + -238.072, + 98.15, + 0.0, + 47.944, + -0.0 + ], + [ + 1449.979, + -144.623, + 98.15, + 0.0, + 47.944, + -0.0 + ], + [ + 1534.286, + -51.174, + 98.15, + 0.0, + 47.944, + -0.0 + ], + [ + 1618.593, + 42.275, + 98.15, + 0.0, + 47.944, + -0.0 + ], + [ + 1702.901, + 135.724, + 98.15, + 0.0, + 47.944, + -0.0 + ], + [ + 1702.901, + 135.724, + 98.15, + 0.0, + 22.944, + -0.0 + ], + [ + 1818.803, + 184.788, + 98.15, + 0.0, + 22.944, + -0.0 + ], + [ + 1818.803, + 184.788, + 98.15, + 0.0, + 22.944, + -0.0 + ] + ], + "Rationale": [ + "Four concrete barriers line the right curb ahead of me, and counting from the right end the second one is my target; they are identical, so I hold it by the fact that it stands just beside the front walkway and mailbox post. I will turn right to face along the street toward that stretch of curb.", + "I am now facing down the roadway with the barrier row running along the curb to my left front. The barrier beside the walkway and mailbox is still well ahead, so I will walk forward along the open lane to close the distance.", + "The two barriers nearest the walkway now sit close together ahead of me, while the ones I have passed have slid out of view on my left. My target is still the one standing beside the mailbox and front walk, so I will keep walking forward.", + "The pair of barriers ahead has grown noticeably larger and the mailbox post beside them is clearly readable now. The one nearer that post is what I am walking to, and it is still several paces off, so I will advance again.", + "Both remaining barriers now fill the lower left of my view, and the one I want sits at the curb beside the mailbox and lawn path. A short gap still separates me from it, so I will step forward once more.", + "The barriers have drifted to the left side of my view as I came alongside them, so my heading no longer points at the one by the mailbox. I will turn left to bring that barrier back squarely in front of me before making the last approach.", + "The barrier beside the mailbox post is now centered just ahead of me at the curb, with its companion to its right. Only a short gap remains, so I will step forward to stand at it.", + "The barrier beside the mailbox post fills the near foreground right at my feet. I have arrived at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001369_y001552_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001369_y001552_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70b6d24dafce5c19a6b53372821964cd84ef148d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001369_y001552_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the window on the left side of the dining area.", + "Type": 2, + "Start_Pose": [ + 1368.819, + 1551.79, + 168.149, + -0.301, + 124.156, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1368.819, + 1551.79, + 168.149, + -0.301, + 124.156, + -0.0 + ], + [ + 1368.819, + 1551.79, + 168.149, + -0.301, + 99.156, + 0.0 + ], + [ + 1348.792, + 1676.182, + 168.149, + -0.301, + 99.156, + 0.0 + ], + [ + 1328.765, + 1800.435, + 168.149, + -0.301, + 99.156, + 0.0 + ], + [ + 1308.739, + 1924.689, + 168.149, + -0.301, + 99.156, + 0.0 + ], + [ + 1308.739, + 1924.689, + 168.149, + -0.301, + 74.156, + 0.0 + ], + [ + 1350.23, + 2035.419, + 168.149, + -0.301, + 74.156, + 0.0 + ], + [ + 1406.674, + 2112.384, + 168.149, + -0.301, + 74.156, + 0.0 + ], + [ + 1406.674, + 2112.384, + 168.149, + -0.301, + 74.156, + 0.0 + ] + ], + "Rationale": [ + "The dining area sits ahead on my left, with two windows on its far wall: the left one stands beside the kitchen counters, the right one next to the staircase. The tall glass-fronted cabinet blocks much of that side, so I will turn left to bring the window by the kitchen counters into open view.", + "Both dining windows are now clear ahead, the one beside the kitchen counters on the left of the pendant lamp and the other by the stairs. The floor between me and the table is open, so I will walk forward to close that distance.", + "The dining table and the window next to the kitchen counters are noticeably larger now, but I am still several paces short of that wall. Nothing blocks the open floor ahead, so I keep walking forward.", + "I am now inside the dining area with the table just ahead and the window beside the kitchen counters filling the left part of my view. Another step forward should bring me close enough to that wall to line up on it.", + "The window beside the kitchen counters sits off to my left while the other window, by the stairs, is at my right edge. Turning left should center the counter-side window so I can approach it straight on.", + "The window beside the kitchen counters is now centered ahead, with the stove and counter to my left and a dining chair below its sill. The gap alongside the table is clear, so I step forward toward the glass.", + "The window now fills most of my view and I can see the fence and neighbouring roof through its panes, though the sill is still a step or so away. I will move forward once more to stand right at it.", + "I stand right at the window frame and sill beside the kitchen counter, its glass directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001370_y001624_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001370_y001624_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f54cfe60dd87deebd34b40719a2d4263594ecbb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001370_y001624_z000168_t1_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Explore the area and go to the TV.", + "Type": 1, + "Start_Pose": [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 84.156, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 84.156, + -0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 109.156, + -0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 134.156, + -0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 159.156, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -175.844, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -150.844, + -0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -125.844, + -0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -100.844, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -75.844, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -50.844, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -25.844, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + -0.844, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 24.156, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 49.156, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 74.156, + 0.0 + ], + [ + 1370.099, + 1623.982, + 167.903, + -0.301, + 99.156, + -0.0 + ], + [ + 1350.072, + 1748.236, + 167.903, + -0.301, + 99.156, + -0.0 + ], + [ + 1350.072, + 1748.236, + 167.903, + -0.301, + 124.156, + -0.0 + ], + [ + 1279.41, + 1852.384, + 167.903, + -0.301, + 124.156, + -0.0 + ], + [ + 1279.41, + 1852.384, + 167.903, + -0.301, + 149.156, + 0.0 + ], + [ + 1171.353, + 1916.911, + 167.903, + -0.301, + 149.156, + 0.0 + ], + [ + 1171.353, + 1916.911, + 167.903, + -0.301, + 174.156, + 0.0 + ], + [ + 1072.172, + 1947.806, + 168.149, + -0.301, + 174.156, + 0.0 + ], + [ + 946.969, + 1960.621, + 168.149, + -0.301, + 174.156, + 0.0 + ], + [ + 946.969, + 1960.621, + 168.149, + -0.301, + -160.844, + 0.0 + ], + [ + 828.08, + 1919.322, + 168.149, + -0.301, + -160.844, + 0.0 + ], + [ + 709.192, + 1878.023, + 168.149, + -0.301, + -160.844, + 0.0 + ], + [ + 590.304, + 1836.724, + 168.149, + -0.301, + -160.844, + 0.0 + ], + [ + 590.304, + 1836.724, + 168.149, + -0.301, + -135.844, + -0.0 + ], + [ + 500.008, + 1749.05, + 168.915, + -0.301, + -135.844, + -0.0 + ], + [ + 500.008, + 1749.05, + 168.915, + -0.301, + -135.844, + -0.0 + ] + ], + "Rationale": [ + "From this kitchen counter view I can see cabinets, the range, and a dining table by the windows, but no television anywhere in sight. I will begin a steady rightward scan from where I stand to inventory the rest of this room before committing to a direction.", + "The dining table and windows are now centered, and a tall glass-front cabinet has come into view on the right, but still no TV. I will keep rotating right in the same direction to see what lies past that cabinet and the staircase.", + "The large white cabinet now fills the right half of my view and blocks sight of whatever is behind it, while the dining area sits off to my left with no screen anywhere. Continuing the same rightward turn should reveal the wall and any opening on the far side of that cabinet.", + "I am now facing the cabinetry at close range, with a corner counter and upper cupboards appearing on the right, so this stretch of wall clearly holds no TV. I will keep turning right in one consistent direction rather than backtracking, to bring the next section of the room into view.", + "This corner is a dead end of built-in cupboards, though a bright exterior window and what looks like a door frame are edging into the right side of my view. I will continue the rightward rotation to see that doorway, since it may lead toward another room where a TV could be.", + "A white door with a brass lever is now in front of me, and through the side window I can see a porch and flag outside, so this is an exterior exit rather than a route to a living room. I will keep scanning to the right past this door to look for an interior opening instead.", + "The front door panel now fills nearly my whole view, confirming there is nothing to find on this stretch of wall. I will continue the same rightward turn to move my gaze off the door and onto the remaining unseen part of the room.", + "I am still looking at the door jamb and the narrow window beside it, with only bare wall and trim in sight. Keeping a consistent rightward scan should carry my view back along the kitchen wall and eventually overlap where I started, so I can judge which direction is worth walking.", + "My view is filled by a closed exterior door panel and a narrow side window looking out to a porch, so there is no TV anywhere in this corner. Since I have been sweeping steadily to the right, I will keep turning that same way to bring the next stretch of wall into view. This should continue the scan without wasting steps on a dead end.", + "The door edge and the sidelight window are still in front of me, and a pale wall corner with the start of a countertop is appearing on the right. No screen is visible here, so I will turn right again to open up that counter area. Keeping one consistent rotation direction keeps my coverage of the room complete.", + "I now see a window on the left and a counter with canisters and upper cabinets on the right, which reads as kitchen work surface rather than a place for a TV. I will continue the rightward turn to follow this counter run further along. More of the kitchen wall should come into view.", + "I am looking straight at cabinets above a granite counter with a dishwasher below, and the rim of a sink is just entering at the right edge. Nothing resembling a TV is on this wall, so I will keep rotating right to follow the counter toward the sink and beyond. That should reveal whether the far end of this kitchen holds anything useful.", + "The sink and faucet are now centered with the long counter running to the right, and this whole side of the kitchen is clearly free of any television. I will turn right again to carry the sweep down the length of the room. Farther along the counter the space should open out again.", + "Down the counter I can see the refrigerator, the stove, and a bright window with a chair edge at the far right, so the room is opening toward a dining area. There is still no TV in sight, so I will keep turning right toward that opening. The wider space beyond may connect to other rooms worth searching.", + "This view of the kitchen counter with the dining table and windows ahead matches the direction I started from, so my rotation has essentially covered the whole room and no TV is here. I will turn right once more to face the open floor past the dining set. From there I should be able to pick a route out of this room.", + "Ahead of me the floor is clear across the dining area, and on the right I can see a staircase and a gap that suggests the room continues into another space. The TV is not in this room, so I will walk forward toward that opening to reach unexplored area. A living space beyond is a plausible place to look next.", + "From here I see the dining table against the windows and kitchen counters to my left, but no television anywhere in this room. The open floor and the staircase on the right side of my view suggest the house continues that way, so I will keep rotating right in the same direction to bring that opening into the center of my view.", + "Now the staircase and the wide stretch of open floor beyond the dining chairs sit ahead of me, with nothing blocking the path. Since no TV is visible in this dining space, I will walk forward to reach that more open area where another living room likely opens up.", + "I am now close to the base of the staircase, and the dining table is behind my left shoulder while the floor continues past the stairs on the right. No screen is visible yet, so I will turn right to face along the stairs toward that unexplored stretch of floor.", + "Facing the staircase now, I can see clear flooring running past its lowest steps and a plain wall on my right, with no television in sight. Walking forward should carry me into the space alongside the stairs where the rest of the house should open up.", + "I have reached the stair landing area and can see a front entry door ahead with what looks like furniture at the right edge of my view, but no television yet. I will turn right to face that adjoining room and check it for the screen.", + "A lit television screen is now visible on a low dresser in the room at the far right of the hallway ahead. The corridor beside the stairs is clear, so I will walk forward to close distance on that screen instead of scanning any further.", + "The television is clearly in view now, sitting on the white dresser to the right of the entry door, and it is noticeably larger than before, confirming I am closing in. The hallway ahead past the staircase is still open, so I will keep walking forward toward it.", + "I have advanced far enough that the living room is open in front of me, but the television still sits off to the right side of my view rather than centered. I will turn right to line my heading up with the screen so my remaining approach goes straight toward it.", + "The lit TV screen is clearly visible ahead on the low dresser against the far wall of this living area, so the target is confirmed. The floor between me and it is open, so I will walk straight forward to close the distance.", + "The TV now sits noticeably larger and near the center of my view, confirming I am closing on it. I will keep walking forward since nothing blocks the path between me and the dresser.", + "The screen and its shelf above are clearly resolved, but I am still several steps back from the dresser. Another forward step should bring me close enough to stand right at the TV.", + "After closing in, the TV has drifted to the right edge of my view while the blank wall and picture fill the left side. I will turn right to bring the screen back to the center of my heading before advancing again.", + "The TV is now squarely in front of me on the dresser with clear floor between us. One more forward step should place me directly at the screen.", + "The lit TV screen fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001371_y-000262_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001371_y-000262_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e0e38638216414052a63b6b2f1ee2faac5f469 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001371_y-000262_z000098_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the right end of the fence on the left.", + "Type": 2, + "Start_Pose": [ + 1370.663, + -262.171, + 98.15, + 0.0, + 42.944, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1370.663, + -262.171, + 98.15, + 0.0, + 42.944, + -0.0 + ], + [ + 1462.794, + -176.425, + 98.15, + 0.0, + 42.944, + -0.0 + ], + [ + 1554.926, + -90.68, + 98.15, + 0.0, + 42.944, + -0.0 + ], + [ + 1554.926, + -90.68, + 98.15, + 0.0, + 17.944, + -0.0 + ], + [ + 1674.663, + -51.904, + 98.15, + 0.0, + 17.944, + -0.0 + ], + [ + 1794.4, + -13.129, + 98.15, + 0.0, + 17.944, + -0.0 + ], + [ + 1914.137, + 25.647, + 98.15, + 0.0, + 17.944, + -0.0 + ], + [ + 1914.137, + 25.647, + 98.15, + 0.0, + -7.056, + 0.0 + ], + [ + 2039.042, + 10.187, + 116.593, + 0.0, + -7.056, + 0.0 + ], + [ + 2163.948, + -5.274, + 119.421, + 0.0, + -7.056, + 0.0 + ], + [ + 2288.854, + -20.734, + 113.644, + 0.0, + -7.056, + 0.0 + ], + [ + 2288.854, + -20.734, + 113.644, + 0.0, + -7.056, + 0.0 + ] + ], + "Rationale": [ + "Two white picket runs flank the front walkway of this house, and the one left of that walkway is mine, so my goal is its far end beside the path. From out here on the road it is still distant behind the concrete barriers. I step forward to close that gap.", + "The picket run left of the walkway is larger now, but I am still out on the pavement with barriers between me and the lawn. Nothing blocks my line ahead, so I keep walking to bring its inner end within reach.", + "My heading is carrying me toward the mailbox and the right side of the yard, while the fence run I want sits off to my left with its end at the walkway. Turning left should swing that run and the path toward the centre of my view for a straight approach.", + "The turn has put the front walkway and the picket run beside it squarely ahead of me. The barriers now sit clear to either side, leaving an open lane. I walk forward toward the end of that fence where it meets the path.", + "I am at the edge of the road with the paved front walk opening directly in front of me and the picket fence rising on its left side. The end post I want is still several strides off. I continue forward onto the walk.", + "The mailbox has slid to my right and the fence line beside the path fills the left half of my view, so I am nearly level with it. The end nearest the walkway is still slightly ahead of me. I keep stepping forward.", + "The mailbox post now crowds my view on the right while the fence run I am heading for lies off to my left along the walkway. A left turn should put that run and its walkway end back in front of me before I close the last distance.", + "Facing the porch now, the fence run left of the walkway stretches across my view and ends at a post right where the path begins. I am still a few paces short of that end. Walking forward should bring me level with it.", + "The picket run on the walkway's left side still trails off toward the porch shrubs ahead of me, so its inner end post lies a couple of strides further on. The path in front stays clear of the lamp post and plantings. I keep walking to draw level with that end.", + "The pickets on my left now sit close alongside me and their final post is nearly abreast of my shoulder, just short of where the fence stops beside the lawn. One more stride should place me right at that end rather than partway down the run.", + "The final post of the left picket run stands right beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001398_y-000845_z000120_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001398_y-000845_z000120_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a2c094b33d7c8b61d1c2dfd77313c73de824394 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001398_y-000845_z000120_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the second closest garden lamp along the driveway.", + "Type": 2, + "Start_Pose": [ + 1398.475, + -845.486, + 120.056, + 0, + -157.027, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1398.475, + -845.486, + 120.056, + 0, + -157.027, + 0 + ], + [ + 1282.598, + -894.608, + 123.301, + 0.0, + -157.027, + 0.0 + ], + [ + 1166.721, + -943.731, + 126.546, + 0.0, + -157.027, + 0.0 + ], + [ + 1050.844, + -992.853, + 129.792, + 0.0, + -157.027, + 0.0 + ], + [ + 934.967, + -1041.976, + 133.037, + 0.0, + -157.027, + 0.0 + ], + [ + 934.967, + -1041.976, + 133.037, + 0.0, + -157.027, + 0.0 + ] + ], + "Rationale": [ + "A line of short garden lamps runs along the grass edge of this driveway, and the second one out from me is my goal, the post standing just off the white porch railing near the flower bed. The lamps are identical, so I hold that spot by the railing beside it. I will walk straight ahead down the driveway toward it.", + "The lamp posts have grown clearer along the lawn strip, and the one I chose still sits beside the white porch railing and its flower bed. My heading down the driveway is already correct, so no turn is needed. I will keep walking forward to close the gap.", + "I am now level with the first posts of the row and my lamp, the one at the railing with the flower bed behind it, lies a little further ahead and slightly left of my path. The driveway ahead is clear grass and pavement. I will step forward again to reach it.", + "The earlier posts have slipped out of my view behind me, so I simply follow the lamp I picked, which now stands tall and close just ahead by the porch railing. One more short advance should bring me right up beside it.", + "The chosen garden lamp stands directly at my feet, filling the near view beside the porch railing. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001411_y-002112_z000175_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001411_y-002112_z000175_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df03c8fcd6616f57acdea5f034c266312b71d7bd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001411_y-002112_z000175_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Turn away from the laundry appliances and open the white paneled door beside the light switch.", + "Type": 4, + "Start_Pose": [ + 1411.455, + -2111.614, + 175.33, + 0.0, + -83.482, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + -83.482, + 0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + -58.482, + 0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + -33.482, + 0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + -8.482, + 0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 16.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 41.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 66.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 91.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 116.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 141.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + 166.518, + -0.0 + ], + [ + 1411.455, + -2111.614, + 175.33, + 0.0, + -168.482, + 0.0 + ], + [ + 1351.619, + -2133.984, + 168.15, + 0.0, + -168.482, + 0.0 + ], + [ + 1351.619, + -2133.984, + 168.15, + 0.0, + -168.482, + 0.0 + ], + [ + 1351.619, + -2133.984, + 168.15, + 0.0, + -168.482, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I am facing the washing machine and its detergent box against a blank wall, so neither the white paneled door nor the light switch is anywhere in view. The task tells me to turn away from the laundry appliances, and the open room continues past the curtain on my right side. I will turn right to begin sweeping my view toward the rest of the room.", + "The appliances are now behind my left shoulder and I see a hanging curtain, a wicker hamper, and a wire shelf rack, but still no paneled door or switch plate. This corner is only storage, so it cannot be my target. I will continue turning right to bring more of the room's walls into view.", + "The rack with the bottle and the edge of a tub are now in front of me, with more curtain fabric filling the right side of my view. A bathing area is not where the paneled door would be, and the wall it hangs on is blocked from sight. I will keep rotating right to look past the curtain.", + "My view is now dominated by the hanging curtain with only the tub and shelving remaining at the left, so the search direction is still unproductive here. The door and its adjacent light switch must lie further around this room. I will turn right again to clear the curtain from my field of view.", + "The curtain now fills nearly my entire view and blocks any sight of the wall behind it, giving me no landmark to work from. Continuing to rotate in the same direction is the quickest way to get past this fabric. I will turn right once more to reveal the wall beyond it.", + "The curtain edge has finally cleared on the right and a plain wall with a toilet tank and paper roll is appearing at the lower right. That is bathroom fixtures rather than the paneled door I need, but it confirms the room continues in this direction. I will turn right again to keep uncovering the wall.", + "I now see the toilet, the paper holder on the wall, and the corner of a stone countertop entering from the right, so I am facing the fixture wall rather than an exit. A light switch usually sits near the vanity area, which is opening up further to my right. I will continue turning right toward the counter side of the room.", + "The vanity with its mirror, faucet, and soap bottle is now centered ahead, and this wall still shows no paneled door or switch plate. The room clearly extends past the far end of the counter, which is the remaining stretch of wall I have not inspected. I will turn right again to look beyond the vanity.", + "Facing the vanity, mirror and towel ring, I still see no paneled door or light switch in front of me, so this wall is not my target. I will keep rotating right to sweep the remaining part of the room where the doorway should be.", + "A white light switch plate has now come into view on the wall past the towel ring, and a pale vertical edge that looks like door casing sits at the right border of my view. Turning right again should bring the paneled door beside that switch fully into sight.", + "The white paneled door with its brass lever handle is now visible on the right side of my view, directly beside the light switch described in the task. One more turn right should place the door squarely ahead so I can walk straight at it.", + "The paneled door now fills the center of my view with the light switch on the wall to my left, so my heading is correct. I am still standing back from the leaf, so I will step forward to bring the handle within reach.", + "I am now right up against the white paneled door, with only its raised panels and stiles filling my view, which means the leaf is within arm's reach. This is the door beside the light switch that the task names, so I will operate it now and it should swing open.", + "The white paneled door now stands open, revealing the hallway beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001416_y001062_z000134_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001416_y001062_z000134_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9abc9e1111c62f75324fddaeac49f1528c41028 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001416_y001062_z000134_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the base of the large tree in the center of the yard.", + "Type": 0, + "Start_Pose": [ + 1415.664, + 1062.302, + 134.38, + -0.05, + 30.755, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1415.664, + 1062.302, + 134.38, + -0.05, + 30.755, + -0.0 + ], + [ + 1415.664, + 1062.302, + 134.38, + -0.05, + 5.755, + -0.0 + ], + [ + 1540.889, + 1074.922, + 135.214, + -0.05, + 5.755, + -0.0 + ], + [ + 1666.113, + 1087.543, + 136.348, + -0.05, + 5.755, + -0.0 + ], + [ + 1791.338, + 1100.163, + 137.165, + -0.05, + 5.755, + -0.0 + ], + [ + 1916.562, + 1112.784, + 137.983, + -0.05, + 5.755, + -0.0 + ], + [ + 1916.562, + 1112.784, + 137.983, + -0.05, + 5.755, + -0.0 + ] + ], + "Rationale": [ + "The large leafy tree standing in the lawn sits off to my left, with its trunk well left of my current heading while the open grass and fence fill the center. I will turn left to bring that trunk toward the middle of my view so I can walk straight at it.", + "The tree's trunk now rises near the center of my view, rooted in the grass ahead of me with clear lawn between us. I will move forward along this heading to begin closing that distance.", + "The trunk has grown noticeably larger and remains close to the center of my view, so my heading is still good. I will keep moving forward across the open grass toward its base.", + "The canopy now spreads across the top of my view and the trunk is thick and slightly right of center, showing I am much nearer. Another step forward should bring me close to the base.", + "The trunk is directly ahead and its base meets the grass just a short stretch in front of me, with the brick wall and hedge still farther back. I will take one more step forward to stand at the base.", + "The thick trunk fills my view directly in front of me, its base in the grass at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001416_y001062_z000134_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001416_y001062_z000134_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d2f17e79e8e11e0c5e0d7ac8bf3f4b732ca90b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001416_y001062_z000134_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the base of the tree in the yard first, then go to where the row of bushes meets the fence.", + "Type": 3, + "Start_Pose": [ + 1415.664, + 1062.302, + 134.379, + -0.05, + 30.755, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1415.664, + 1062.302, + 134.379, + -0.05, + 30.755, + -0.0 + ], + [ + 1523.822, + 1126.662, + 138.631, + -0.05, + 30.755, + -0.0 + ], + [ + 1523.822, + 1126.662, + 138.631, + -0.05, + 5.755, + -0.0 + ], + [ + 1649.047, + 1139.283, + 139.458, + -0.05, + 5.755, + -0.0 + ], + [ + 1774.272, + 1151.903, + 140.275, + -0.05, + 5.755, + -0.0 + ], + [ + 1899.496, + 1164.524, + 141.093, + -0.05, + 5.755, + -0.0 + ], + [ + 1899.496, + 1164.524, + 141.093, + -0.05, + 5.755, + -0.0 + ], + [ + 2024.721, + 1177.144, + 141.91, + -0.05, + 5.755, + -0.0 + ], + [ + 2024.721, + 1177.144, + 141.91, + -0.05, + -19.245, + -0.0 + ], + [ + 2143.546, + 1135.66, + 139.223, + -0.05, + -19.245, + -0.0 + ], + [ + 2262.372, + 1094.176, + 136.536, + -0.05, + -19.245, + -0.0 + ], + [ + 2262.372, + 1094.176, + 136.536, + -0.05, + -44.245, + -0.0 + ], + [ + 2283.002, + 1013.274, + 131.645, + -0.05, + -44.245, + -0.0 + ], + [ + 2283.002, + 1013.274, + 131.645, + -0.05, + -19.245, + -0.0 + ], + [ + 2283.002, + 1013.274, + 131.645, + -0.05, + -19.245, + -0.0 + ] + ], + "Rationale": [ + "The tall tree standing in the open lawn is ahead of me, slightly to the left, with clear grass between us. I will walk forward across the yard to close that distance before worrying about the fence line.", + "The tree's trunk now sits well off to my left while my heading points along the wooden boundary fence instead. I will turn left so the trunk moves toward the center of my view and I can walk straight at its base.", + "The tree is now centered ahead of me with its trunk rising straight from the grass. Nothing blocks the lawn between us, so I will step forward to shorten the gap to its base.", + "The trunk has grown noticeably wider and its canopy now fills the top of my view, so my heading is good. I will keep walking forward to reach the ground right at the base of the tree.", + "The trunk is close enough that its bark detail is clear and the branches arch above me, but I am still a stride or two short of standing at its foot. I will advance once more to bring myself right against the base.", + "The trunk rises directly beside me, filling the left of my view from the grass upward, so I am standing at the foot of the yard's tree. I have reached it. I mark reaching this tree and now set off for the spot where the row of bushes runs into the fence.", + "The clipped bushes stand in a line along the low brick wall ahead of me, well beyond easy reach. I will walk forward toward that hedge line so I can see where it ends against the fencing.", + "I am now right up against the planted wall, and the row of bushes continues off to my left toward the white picket fence at the porch end. I will turn left so that junction of hedge and fence comes into the middle of my view.", + "The tree behind me is done with, and now the planted row along the low wall runs off to my left toward the white picket fence. My heading follows that row, so I will walk forward to close on the point where the shrubs reach the fence.", + "The shrubs now fill much of my view and the picket fence sits just beyond their left end, so I am nearly at the junction but not beside it yet. I will step forward again to bring that meeting point within arm's reach.", + "Leaves crowd almost my whole view, which tells me I am right against the planting but aimed into its middle rather than its end. I will turn left to swing my heading back toward the picket fence where the row terminates.", + "The white picket fence is back in sight at the left, with the last shrubs of the row standing beside it. A short step forward should carry me right up to that junction.", + "I am standing at the fence, but my view is skewed left along the pickets while the end shrubs sit off to my right. A small turn right should square me onto the spot where the planting abuts the fence.", + "The end of the bush row stands directly against the white picket fence right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001417_y002005_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001417_y002005_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a14689fabee1d108ab86632ae26bb85bd5496c36 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001417_y002005_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the living area and open the white paneled door beyond the staircase.", + "Type": 4, + "Start_Pose": [ + 1417.425, + 2005.151, + 168.15, + 0.0, + -174.805, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.425, + 2005.151, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 1292.083, + 1993.755, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 1166.741, + 1982.359, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 1041.399, + 1970.963, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 916.057, + 1959.567, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 790.715, + 1948.171, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 665.373, + 1936.775, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 540.031, + 1925.379, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 446.996, + 1924.861, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 446.996, + 1924.861, + 168.15, + 0.0, + -174.805, + 0.0 + ], + [ + 446.996, + 1924.861, + 168.15, + 0.0, + -174.805, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the dining area I can see the open living space ahead, with the staircase on the left and a white paneled door standing in the wall past it. My heading already lines up with that door, so I will move forward to begin crossing the room toward it.", + "The staircase now fills more of my left side and the white door remains centered farther down the room, which confirms my heading is still good. I will keep moving forward along the open floor to shrink the remaining distance.", + "I am now inside the living area with the sofa and television off to the right and the paneled door still directly ahead beyond the stair wall. Since nothing blocks the path, another forward step should bring me closer without any turn.", + "The door is larger in view and I can now make out its panel layout, so I am closing on the correct target. I will continue straight ahead since my current line still leads to it.", + "The white paneled door and its brass handle are clearly framed slightly left of center, and the wall stub with the picture stands to its right. Continuing forward should carry me into the small alcove in front of the door.", + "I am close enough now that the doorframe fills much of my view and the handle is plainly on the right side of the door. A further step forward should place me within reach of that handle before I try to open it.", + "The door face and its handle now dominate my view, but I still have a small gap to the panel. I will step forward once more to close that gap so the handle sits squarely within reach for an opening attempt.", + "I am nearly against the white paneled door with the handle and deadbolt just right of center in my view. One last short forward adjustment should put me flush at the interaction distance needed to work the handle.", + "The white paneled door now fills my view at arm's length, with its handle and deadbolt clearly within reach just right of center. Since I am squarely aligned with the leaf and no further approach is needed, I will operate the handle now, which should swing the door open.", + "The white paneled door now stands open, revealing the shelved garage space beyond its threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001419_y-002151_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001419_y-002151_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..426fb2fff7dd1b54089057d136edd8b30e83b247 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001419_y-002151_z000168_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Turn around from the blank wall, locate the nearest door, and open it.", + "Type": 4, + "Start_Pose": [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -2.556, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -2.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -27.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -52.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -77.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -102.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -127.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -152.556, + 0.0 + ], + [ + 1419.331, + -2151.021, + 168.15, + 0.0, + -177.556, + 0.0 + ], + [ + 1351.624, + -2155.712, + 168.15, + 0.0, + -177.556, + 0.0 + ], + [ + 1351.624, + -2155.712, + 168.15, + 0.0, + -177.556, + 0.0 + ], + [ + 1351.624, + -2155.712, + 168.15, + 0.0, + -177.556, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing a blank wall above a bathtub with only a shelving unit and a shower curtain edge in view, so there is no door here. I will turn left to begin sweeping the room for the nearest doorway.", + "The rotation has brought the shower curtain and shelving into the center of my view, still with no doorway visible. I will keep turning left to continue scanning past this corner of the bathroom.", + "The hanging curtain now blocks most of my view and only bare wall and a wicker stool appear beside it, so the exit is not on this heading. I will continue turning left to keep sweeping toward the unseen part of the room.", + "I see plain wall with a stool and part of a cabinet at the edge, still no door frame in sight. I will turn left again to bring more of the opposite side of the room into view.", + "A washing machine and blank wall are in front of me, which suggests I am approaching the utility side of the room where an exit is more likely. I will keep turning left to reveal the wall beyond it.", + "A vertical white frame edge has just appeared on the left side of my view next to the washer, which likely marks a door casing. I will turn left again to bring that frame fully into the center of my view.", + "A paneled white door is now clearly visible on the left half of my view, partly cut off by the frame edge. I will turn left once more to square up on the door so its handle comes within reach ahead of me.", + "The paneled door is centered ahead of me with its lever handle plainly visible, so I am aligned with the nearest exit. It is still a step away, so I will move forward to close the gap and get within interaction range of the handle.", + "The paneled door leaf now fills my whole view at arm's length, so I am squarely aligned with it and within reach of its latch. Since this is the nearest door and it is still shut, I will operate it now and expect the leaf to swing clear.", + "The door in front of me now stands open, revealing the hallway beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001424_y001719_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001424_y001719_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0704e3e65f7d3eef3bc2730f80e6f882507dee6b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001424_y001719_z000468_t4_a/infos.json @@ -0,0 +1,73 @@ +{ + "Instruction": "Open the white paneled door beside the louvered wardrobe.", + "Type": 4, + "Start_Pose": [ + 1424.239, + 1718.516, + 468.15, + 0.0, + 163.904, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1424.239, + 1718.516, + 468.15, + 0.0, + 163.904, + 0.0 + ], + [ + 1303.314, + 1753.41, + 468.15, + 0.0, + 163.904, + -0.0 + ], + [ + 1204.498, + 1796.926, + 468.15, + 0.0, + 163.904, + -0.0 + ], + [ + 1204.498, + 1796.926, + 468.15, + 0.0, + 163.904, + -0.0 + ], + [ + 1204.498, + 1796.926, + 468.15, + 0.0, + 163.904, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this spot I can see the white paneled door set in the wall to the left of the louvered wardrobe doors, but it is still several steps away across the carpet. Nothing blocks the straight path toward it, so I will move forward to close that distance.", + "The paneled door now fills much of my view with its brass knob clearly visible, and the louvered wardrobe has slid to the right edge, confirming I am heading at the correct door. I am still slightly too far back for a reliable interaction, so I will step forward once more to reach handle range.", + "The door surface and its frame edge now dominate my view, so I am standing right against the white paneled door beside the wardrobe. At this contact distance I will attempt to open it, which should swing the panel clear of the frame.", + "The paneled door now stands open with the hallway and railing visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001425_y002134_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001425_y002134_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..020c69e2859f57bcfe28d92a46bd08d04e47bccf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001425_y002134_z000468_t4_a/infos.json @@ -0,0 +1,205 @@ +{ + "Instruction": "Open the white paneled door on the left wall of the bedroom.", + "Type": 4, + "Start_Pose": [ + 1424.674, + 2134.232, + 468.113, + 0.0, + -109.453, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1424.674, + 2134.232, + 468.113, + 0.0, + -109.453, + 0.0 + ], + [ + 1424.674, + 2134.232, + 468.113, + 0.0, + -134.453, + 0.0 + ], + [ + 1341.525, + 2100.726, + 468.113, + 0.0, + -134.453, + 0.0 + ], + [ + 1341.525, + 2100.726, + 468.113, + 0.0, + -109.453, + 0.0 + ], + [ + 1307.524, + 2100.722, + 468.113, + 0.0, + -109.453, + 0.0 + ], + [ + 1254.299, + 2037.619, + 468.113, + 0.0, + -109.453, + 0.0 + ], + [ + 1212.384, + 1918.944, + 468.113, + 0.0, + -109.453, + 0.0 + ], + [ + 1212.384, + 1918.944, + 468.113, + 0.0, + -109.453, + 0.0 + ], + [ + 1212.384, + 1918.944, + 468.113, + 0.0, + -134.453, + 0.0 + ], + [ + 1212.384, + 1918.944, + 468.113, + 0.0, + -134.453, + 0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + -134.453, + 0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + -134.453, + 0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + -159.453, + 0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + 175.547, + -0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + 150.547, + -0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + 150.547, + -0.0 + ], + [ + 1201.594, + 1833.902, + 468.15, + 0.0, + 150.547, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the foot of the bed I can see the white paneled door set into the left wall of the bedroom, but it sits well off to the side of my heading. I will turn left so that door comes into the middle of my view and I have a clear line across the open carpet toward it.", + "The paneled door is now framed near the center of my view with clear carpet between me and it, and the bed no longer blocks my path. I will move forward to close a large part of the distance to that door.", + "After advancing, my heading is angled toward the blank stretch of wall left of the door rather than into the open floor beside it, and the wall is now close on my left. I will turn slightly right to straighten my course along the room so continued forward motion brings me up beside the paneled door instead of into the wall.", + "With my heading straightened along the room, the paneled door and the adjacent closet unit are clearly visible ahead on my left with open carpet in between. I will take a short step forward to keep closing on the door.", + "The paneled door is growing larger on my left, but I am still too far back along the wall to reach its handle. I will continue forward to bring myself alongside the door within arm's reach.", + "The white paneled door on the left wall is close now, but its handle is still off to my left edge and I am not yet within reach of the panel. I will move forward again to close the last of that gap so the door surface fills the space in front of me. This should put me near enough to attempt the handle.", + "I am now right up against the white paneled door, with its panels filling the left half of my view and the tall wardrobe edge just to the right. This looks close enough to reach the latch, so I will try to open the door from here. If my heading is off center from the handle, the attempt may not take hold.", + "My attempt to open the door just now left it shut, and I can see why: my heading is split between the door and the wardrobe edge, with the handle hardware pushed to the far left margin. I will turn left to bring the door's latch side squarely in front of me. That should give a cleaner line for grasping the handle.", + "Now the lever handle and deadbolt are centered in front of me on the white paneled door, which is exactly the hardware I need. Since my previous attempt at a poorer heading did not move the door, I will try again from this squared-up position. This alignment may be enough for the latch to release.", + "Two attempts on this handle have left the door unchanged, and the hardware still sits slightly left of where I am facing, so distance or reach may be the problem. I will step forward to press right up to the door and the latch area. Being closer should give my interaction a better chance of engaging.", + "I am now pressed right up against the white paneled door, with its edge and jamb filling my view after closing the last bit of distance. My previous attempt from slightly further back left the door shut, so I will try the opening interaction again from this closer contact position. Being this near the leaf and its frame may put the handle within reach.", + "The door still has not moved after my attempt from this contact position, and my view is filled only by the seam between the door edge and its frame, with no handle in sight. Standing this close and aimed at the jamb gives me nothing to act on, so I will turn left to sweep my heading back across the door face. That should help bring the panel and its latch side into view.", + "Turning has moved my view off the jamb and onto a raised panel and the flat stile of the door, but the latch and lever are still outside my field of view. I will continue turning left to keep sweeping across the door face toward its handle side. A little more rotation should bring the hardware into the center of my view.", + "I am now looking at two raised panels of the closed door with the frame edge no longer dominating, yet the lever handle is still not in view. One more left turn should carry my heading further along the door face toward the latch side where the hardware sits. Getting the handle centered is what I need before another opening attempt.", + "Now the door's brass lever and deadbolt are clearly visible near the left side of my view, with the frame edge just beyond them, so I am squarely facing the latch side of the panel. Earlier attempts made from poorly aimed positions left the door closed, but this heading puts the handle directly in front of me. I will attempt to open it from here.", + "The door now stands open, revealing the hallway and stair railing beyond the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001432_y001840_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001432_y001840_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6a9287a6e523d44a36cf413cccb9e8b19afe349 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001432_y001840_z000468_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Turn away from the bed corner, locate the bedroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 1431.81, + 1839.979, + 468.15, + 0.0, + 85.825, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1431.81, + 1839.979, + 468.15, + 0.0, + 85.825, + 0.0 + ], + [ + 1431.81, + 1839.979, + 468.15, + 0.0, + 110.825, + -0.0 + ], + [ + 1431.81, + 1839.979, + 468.15, + 0.0, + 135.825, + -0.0 + ], + [ + 1431.81, + 1839.979, + 468.15, + 0.0, + 160.825, + -0.0 + ], + [ + 1313.492, + 1870.069, + 468.15, + 0.0, + 160.825, + -0.0 + ], + [ + 1313.492, + 1870.069, + 468.15, + 0.0, + -174.175, + 0.0 + ], + [ + 1201.714, + 1857.471, + 468.15, + 0.0, + -174.175, + 0.0 + ], + [ + 1201.714, + 1857.471, + 468.15, + 0.0, + -174.175, + 0.0 + ], + [ + 1201.714, + 1857.471, + 468.15, + 0.0, + -174.175, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the bed corner with only the headboard, nightstand, and blank walls in view, so no doorway is visible from here. I will turn right to sweep my view along the adjacent wall and begin searching for the bedroom door.", + "The rotation has brought the dresser and the far wall into view, but I still see no doorway along this stretch of wall. I will continue turning right to extend the sweep toward the unseen corner of the room.", + "A white paneled door with a brass handle has now appeared at the right edge of my view, so the bedroom door is located. I will turn right once more to bring it closer to the center of my heading before approaching.", + "The door is now clearly framed ahead of me with the dresser off to the left and open floor in between. I will move forward across that clear carpet to close the distance toward the door.", + "After closing in, the door has shifted to the right half of my view and its frame is cut at the edge, so I am not squared up with it. I will turn right to center the handle and panels in front of me.", + "The door is now centered ahead with its handle plainly in the middle-left of my view, and I am still a step short of it. I will move forward to come within reach of the handle.", + "I am right up against the door panels, close enough that only the paneled surface fills my view, which means the handle is within reach. I will attempt to open the bedroom door now.", + "The door now stands swung open with the hallway, railing, and stairs visible beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001432_y002101_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001432_y002101_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f864db8c98f11d3cbd50b62d2005a42f8915365 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001432_y002101_z000468_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search the environment and navigate to the couch under the window.", + "Type": 1, + "Start_Pose": [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -3.123, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -3.123, + 0.0 + ], + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -28.123, + 0.0 + ], + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -53.123, + 0.0 + ], + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -78.123, + 0.0 + ], + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -78.123, + 0.0 + ], + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -103.123, + 0.0 + ], + [ + 1432.139, + 2100.695, + 468.15, + 0.0, + -128.123, + 0.0 + ], + [ + 1363.991, + 2100.695, + 468.15, + 0.0, + -128.123, + 0.0 + ], + [ + 1295.066, + 2098.585, + 468.15, + 0.0, + -128.123, + 0.0 + ], + [ + 1295.066, + 2098.585, + 468.15, + 0.0, + -103.123, + 0.0 + ], + [ + 1252.321, + 2007.345, + 468.15, + 0.0, + -103.123, + 0.0 + ], + [ + 1252.321, + 2007.345, + 468.15, + 0.0, + -78.123, + 0.0 + ], + [ + 1269.193, + 1884.554, + 468.15, + 0.0, + -78.123, + 0.0 + ], + [ + 1269.193, + 1884.554, + 468.15, + 0.0, + -53.123, + 0.0 + ], + [ + 1344.721, + 1783.876, + 468.15, + 0.0, + -53.123, + 0.0 + ], + [ + 1344.721, + 1783.876, + 468.15, + 0.0, + -28.123, + 0.0 + ], + [ + 1442.407, + 1725.366, + 468.15, + 0.0, + -28.123, + 0.0 + ], + [ + 1442.407, + 1725.366, + 468.15, + 0.0, + -28.123, + 0.0 + ], + [ + 1442.407, + 1725.366, + 468.15, + 0.0, + -28.123, + 0.0 + ] + ], + "Rationale": [ + "My current view is almost entirely a blank interior wall with a lamp shade close in front of me, so there is no couch or window visible to head toward. I will turn left to begin a steady scan of this room for a window with seating beneath it.", + "The turn brought a tall bed headboard and framed pictures into view, confirming I am in a bedroom, but still no window with seating under it. I will keep rotating left in the same direction to uncover the rest of the room.", + "Continuing left has revealed a curtained window and a small window with a dresser on the far side of the bedroom, which is the kind of area where seating under a window would sit. I will turn left once more to bring that window wall and the open floor fully into view.", + "I can now see the far corner of the bedroom with a window, dresser and closets, plus a curtained window edge on the right, so this is the promising area to inspect for seating beneath a window. I will step forward to close distance toward that window wall, though the bed fills the near foreground and may leave little room ahead of me.", + "My forward step did not change my position at all, since the bed directly ahead of me is blocking that line of travel. I will turn left toward the open floor and closet side of the room to look for a route I can actually walk along.", + "My earlier attempt to step forward went nowhere because the bed filled the space directly in front of me, so I am still reorienting toward open floor. From here the doorway and closet wall sit to my left with clear carpet beside them, while the bed still crowds the bottom of my view, so one more left turn should put walkable floor squarely ahead. It also keeps sweeping this bedroom for any couch or long seat set beneath a window.", + "Now the bed is off to my right and a clear stretch of carpet runs ahead toward the door and louvered closet, so the path that was blocked before should finally be passable. I will walk forward to leave the cramped bedside area and get a wider view of the window walls, where a couch would most plausibly sit.", + "The last step moved me properly this time, since the door and closet fronts have grown noticeably closer and the bed has slipped to the edge of my view. Continuing forward should bring me deeper into the open part of the room so the window wall on my right opens up and I can check what furniture sits beneath it.", + "The plain wall and closed door are now close in front of me, so pressing straight ahead would only run me into them. The daylight from the window at the right edge of my view marks the more promising side of the room, so I will turn right to face along the open floor toward that window wall.", + "The turn opened up the far corner of the room, and I can now see a low upholstered seat beneath the curtained window on the right, which is the strongest match yet for the couch I am looking for. I will walk forward along the clear carpet to close the distance and confirm that piece under the window.", + "The closed door now fills my left side and the built-in closet blocks the way straight ahead, so there is nothing seat-like in front of me. Only the small window and the chest of drawers on my right hint that the rest of this room, including a possible window seating area, lies further to the right. I will turn right to swing that unseen part of the room into view.", + "The turn opened up the far corner, and I can now see a wide curtained window on the right with a long low upholstered seat set directly beneath it, which matches the couch under the window I am looking for. It is still several paces away across the open carpet. I will walk forward to close that distance.", + "Advancing has brought me deeper into the room, but my heading is aimed at the small window and closet, leaving the upholstered seat only clipping the right edge of my view. Turning right should bring the wide curtained window and the seat below it into the center of my field of view for a straight approach.", + "The wide curtained window and the long padded bench beneath it are now clearly in front of me, slightly to the right, with open carpet in between. Nothing blocks the floor along that line. I will step forward to get close to the seat under the window.", + "I am close to the corner now, but my heading points between the two windows, so the bench under the wide window sits low at the bottom right of my view. A right turn should square me up with that window and place the seat squarely in front of me.", + "The upholstered bench seat tucked beneath the wide curtained window is now directly ahead and slightly left in my view, matching the couch under the window I was told to reach. I will step forward to close the remaining gap so I end up standing right at it.", + "After stepping in, my view is filled almost entirely by the window glass and sill, so the bench seat has dropped below my field of view. I will tilt my gaze downward to bring the couch under the window back into sight and confirm I am standing right beside it.", + "The long cushioned bench seat sits directly below the window sill right at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001447_y000034_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001447_y000034_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..712aefef75a4ea8c076e15282fab482d36a9425f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001447_y000034_z000098_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the tall street lamp near the trash bin.", + "Type": 0, + "Start_Pose": [ + 1447.039, + 33.589, + 98.112, + 0, + -176.815, + 0 + ], + "Action": [ + "LookUp", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1447.039, + 33.589, + 98.112, + 0, + -176.815, + 0 + ], + [ + 1447.039, + 33.589, + 98.112, + 0.0, + -176.815, + 0.0 + ], + [ + 1447.039, + 33.589, + 98.112, + 0.0, + -151.815, + 0.0 + ], + [ + 1447.039, + 33.589, + 98.112, + 0.0, + -126.815, + 0.0 + ], + [ + 1371.62, + -67.171, + 98.112, + 0.0, + -126.815, + 0.0 + ], + [ + 1296.201, + -167.93, + 98.112, + 0.0, + -126.815, + 0.0 + ], + [ + 1220.782, + -268.69, + 98.112, + 0.0, + -126.815, + 0.0 + ], + [ + 1220.782, + -268.69, + 98.112, + 0.0, + -151.815, + 0.0 + ], + [ + 1109.847, + -328.135, + 98.112, + 0.0, + -151.815, + 0.0 + ], + [ + 998.911, + -387.581, + 98.112, + 0.0, + -151.815, + 0.0 + ], + [ + 887.976, + -447.027, + 102.793, + 0.0, + -151.815, + 0.0 + ], + [ + 777.04, + -506.472, + 120.736, + 0.0, + -151.815, + 0.0 + ], + [ + 777.04, + -506.472, + 120.736, + 0.0, + -176.815, + 0.0 + ], + [ + 777.04, + -506.472, + 120.736, + 0.0, + -176.815, + 0.0 + ] + ], + "Rationale": [ + "From the middle of the road I can see trash bins on both curbs, and a slender pole rises past the tree canopy on the right edge of my view. I will tilt my gaze upward to trace that pole's full height and confirm it is the tall street lamp rather than a utility post before committing to an approach.", + "With my view raised I can now see the lamp arm curving out over the right sidewalk, directly above the trash bin on that side. The target sits well right of my current heading, so I will turn right to bring it toward the center of my view.", + "The lamp post and the grey trash bin at its base are now in view, but still a little right of straight ahead across the roadway. A second turn to the right should put them squarely in front of me so I can close the distance in a straight line.", + "The lamp post stands ahead near the hedge with the trash bin at the curb just left of it, and nothing blocks the pavement between us. I will move forward to begin closing the gap toward the base of the lamp.", + "The trash bin and the pole beside it have grown noticeably larger, confirming my heading is carrying me straight toward them. I will keep moving forward since there is still open roadway before the curb.", + "I am now close to the curb, with the bin near the left of my view and the lamp post rising just beyond it. Another step forward should bring me alongside the sidewalk where the lamp stands.", + "Approaching this close has pushed the trash bin and the lamp post out to the left edge of my view, so the target is no longer in front of me. I will turn left to bring the bin and the pole back toward the center and line myself up with the sidewalk running past them.", + "The turn worked, and the trash bin at the curb with the tall lamp post beside it are back in front of me along the sidewalk. I will move forward along this line to close the remaining distance to the lamp's base.", + "The tall street lamp pole stands ahead of me along the curb strip, with the wheeled trash bin now close on my left, confirming this is the right lamp. My heading is already lined up with the pole, so I will move forward to keep closing the remaining gap.", + "The trash bin has grown large at my left side and the lamp pole is directly ahead, so I am nearly beside the target pair. Another step forward should bring me level with the base of the pole.", + "The lamp pole now rises thick and dark right in front of me while the bin has slipped behind on my left, showing I am very close. One more forward step should place me alongside the pole rather than short of it.", + "I am right at the lamp, and its shaft is cut off at the left edge of my view, so the pole is no longer centered in front of me. Turning left should swing the pole back into the middle of my view for a proper facing position at the target.", + "The tall lamp post fills the center of my view at arm's length, with the trash bin's curb strip beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001452_y000163_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001452_y000163_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..07131aa57ca6ce887c93feb9c209ca2ce9390696 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001452_y000163_z000098_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First walk to the rightmost end of the left hedge, then head to the mailbox.", + "Type": 3, + "Start_Pose": [ + 1452.1, + 163.433, + 98.114, + -0.301, + 105.153, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1452.1, + 163.433, + 98.114, + -0.301, + 105.153, + -0.0 + ], + [ + 1419.201, + 284.914, + 98.114, + -0.301, + 105.153, + -0.0 + ], + [ + 1419.201, + 284.914, + 98.114, + -0.301, + 80.153, + -0.0 + ], + [ + 1440.725, + 408.917, + 108.85, + -0.301, + 80.153, + -0.0 + ], + [ + 1462.249, + 532.921, + 120.886, + -0.301, + 80.153, + -0.0 + ], + [ + 1483.773, + 656.924, + 113.949, + -0.301, + 80.153, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + 80.153, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + 80.153, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + 105.153, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + 130.153, + 0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + 155.153, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + -179.847, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + -154.847, + -0.0 + ], + [ + 1502.879, + 723.679, + 113.948, + -0.301, + -129.847, + 0.0 + ], + [ + 1422.237, + 626.88, + 113.948, + -0.301, + -129.847, + 0.0 + ], + [ + 1341.595, + 530.253, + 121.061, + -0.301, + -129.847, + 0.0 + ], + [ + 1341.595, + 530.253, + 121.061, + -0.301, + -129.847, + 0.0 + ] + ], + "Rationale": [ + "From the roadside I can see the walkway running to the porch with a long hedge flanking each side of it. The hedge on the left of that path is my first destination, so I will step forward off the verge to close some of the open lawn between us.", + "My heading still points straight at the front door, which keeps the left hedge off to the side rather than in front of me. I will turn left so that hedge and the end of it nearest the walkway sit in the middle of my view before I keep walking.", + "The hedge on the left of the walkway now lies squarely ahead, with its leafy wall stretching away past the tree. Nothing blocks the grass and paving between us, so I will walk forward to close on the end of it that meets the path.", + "The hedge has grown taller in my view and the walkway beside it is close on my right, but its far end near the path is still some distance off. I will keep walking forward to shorten that remaining stretch.", + "The hedge now fills the whole left half of my view and I can see the porch railing just beyond where it finishes. A short gap of lawn and paving still separates me from that end, so I will step forward again.", + "Leaves now crowd most of my view and only the top of the porch and the upper windows show above the hedge, so I am nearly level with where it ends beside the walkway. One more short step forward should bring me right to that end.", + "The hedge's leaves are right against me and the house wall and porch roof show just past where the greenery breaks off, so I am standing at the right end of this hedge beside the walkway. I have arrived at that end. I mark reaching it and turn my attention to the mailbox out by the road.", + "With the end of the hedge reached, the mailbox on its post stands back out at the roadside, well behind my current heading and hidden by the greenery in front of me. I will turn right to start swinging my view around toward the street.", + "The hedge foliage still crowds most of my view, so I am not yet aimed at anything useful for my next destination. The mailbox stands out by the roadside behind my right shoulder, so I will keep rotating right to swing my heading away from the hedge and toward the street.", + "The hedge has slid to my left and the lawn and front walk are opening up ahead, but the road where the mailbox stands is still off to my right. Another right turn should carry my heading further toward the street side of the yard.", + "The sidewalk and the row of street trees are entering my view on the right, which tells me the roadside is coming around. I will turn right again to keep bringing the curb line, where the mailbox sits, toward the center of my view.", + "The sidewalk now runs ahead of me with the road and parked car visible past the trees on the right. A mailbox post is just at the right edge of my view, so one more right turn should pull it toward center.", + "The mailbox on its wooden post is now clearly in front of me on the grass strip beside the road, though still sitting right of my heading. I will turn right once more so it lines up ahead of me for a straight walk.", + "The mailbox stands on its post slightly left of center with open sidewalk and grass in between, so my heading is good enough to close distance. I will step forward toward it.", + "The mailbox is much larger now, close on my left front with its post planted in the verge beside the curb. One more step forward should bring me right alongside it.", + "The mailbox is right beside me, filling the near left of my view at arm's reach. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001454_y001605_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001454_y001605_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b10cbf4a2b35e6cd82b671624897f76df66866 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001454_y001605_z000468_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Pull open the white door just left of the louvered wardrobe.", + "Type": 4, + "Start_Pose": [ + 1453.722, + 1605.265, + 468.15, + 0.0, + 136.418, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1453.722, + 1605.265, + 468.15, + 0.0, + 136.418, + 0.0 + ], + [ + 1362.551, + 1693.975, + 468.15, + 0.0, + 136.418, + -0.0 + ], + [ + 1271.38, + 1780.741, + 468.15, + 0.0, + 136.418, + -0.0 + ], + [ + 1201.709, + 1867.031, + 468.15, + 0.0, + 136.418, + -0.0 + ], + [ + 1201.709, + 1867.031, + 468.15, + 0.0, + 161.418, + -0.0 + ], + [ + 1201.709, + 1867.031, + 468.15, + 0.0, + 161.418, + -0.0 + ], + [ + 1201.709, + 1867.031, + 468.15, + 0.0, + 161.418, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see the white paneled door set in the far wall, just left of the tall louvered wardrobe doors, which matches my target. It is still several steps away across the carpet, so I will move forward to close that distance.", + "The target door now fills more of my view and its brass handle is clearly visible, but I am still too far back to reach it. Another step forward should bring me near the doorway with the wardrobe passing on my right.", + "I am close to the door now, with its handle plainly in view slightly to my right. One more forward step should put me within arm's reach of the handle before I attempt to open it.", + "I am right up against the doorway, but the door leaf and its lever handle sit off to the right edge while the jamb and light switch dominate the center of my view. A small turn to the right should square me onto the door face with the handle centered for the pull.", + "The white door's lever handle and lock are now centered directly in front of me at arm's length. This is the door left of the louvered wardrobe, so I will pull it open from here.", + "The doorway now stands open onto the hallway and stair railing beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001468_y-001765_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001468_y-001765_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d54db48dc25eadb3d52b07d8f29b20e31b7e6510 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001468_y-001765_z000168_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the table in the foreground on your right.", + "Type": 2, + "Start_Pose": [ + 1467.797, + -1765.003, + 168.15, + 0.0, + 158.536, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1467.797, + -1765.003, + 168.15, + 0.0, + 158.536, + -0.0 + ], + [ + 1467.797, + -1765.003, + 168.15, + 0.0, + -176.464, + 0.0 + ], + [ + 1342.178, + -1772.765, + 168.15, + 0.0, + -176.464, + 0.0 + ], + [ + 1216.558, + -1780.528, + 168.15, + 0.0, + -176.464, + 0.0 + ], + [ + 1090.939, + -1788.29, + 168.15, + 0.0, + -176.464, + 0.0 + ], + [ + 1090.939, + -1788.29, + 168.15, + 0.0, + -151.464, + 0.0 + ], + [ + 1001.51, + -1848.057, + 175.442, + 0.0, + -151.464, + 0.0 + ], + [ + 1001.51, + -1848.057, + 175.442, + 0.0, + -151.464, + 0.0 + ] + ], + "Rationale": [ + "Two work tables stand along the wall to my right, and the nearer one, carrying the open carton, sits at the very edge of my view where I can barely hold it. I will turn right so that table and the floor in front of it come into open view before I start walking.", + "Both tables are now clearly ahead of me against the far wall, with the nearer one holding the open carton to the right of the pair. The floor between us is clear, so I will walk forward to cut down the distance.", + "The tables have grown larger, yet I am still several strides short of them, with the blue bin under the left table clearly separate from my target beside it. I will keep walking straight while the path stays clear.", + "The tabletops now fill much of my view, but I am still standing a step or two back from their front edge. Another stride forward should bring me right up beside the table holding the open carton.", + "At this range the tables have slid to the right side of my view and blank wall fills the left, so my heading no longer points at the table with the open carton. I will turn right to face it squarely before closing the last bit of distance.", + "The table with the open carton and the paint cans now sits ahead on my right, with its neighbour off to my left. A short step forward should put me directly at its edge.", + "The table with the paint cans and the open carton is right at my feet, within arm's reach. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001476_y000347_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001476_y000347_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a413df0bac39948ee513160a2a9407c546c67a80 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001476_y000347_z000098_t2_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the left end of the right fence.", + "Type": 2, + "Start_Pose": [ + 1476.084, + 346.54, + 98.15, + 0.0, + -16.576, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1476.084, + 346.54, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1596.713, + 310.634, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1717.341, + 274.728, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1837.97, + 238.822, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1875.584, + 207.205, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1875.584, + 178.464, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1787.024, + 204.825, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1787.024, + 204.825, + 98.15, + 0.0, + -41.576, + 0.0 + ], + [ + 1878.495, + 120.686, + 98.15, + 0.0, + -41.576, + 0.0 + ], + [ + 1878.495, + 120.686, + 98.15, + 0.0, + -16.576, + 0.0 + ], + [ + 1977.013, + 73.027, + 101.581, + 0.0, + -16.576, + 0.0 + ], + [ + 1977.013, + 73.027, + 101.581, + 0.0, + 8.424, + -0.0 + ], + [ + 2101.514, + 91.465, + 125.335, + 0.0, + 8.424, + -0.0 + ], + [ + 2101.514, + 91.465, + 125.335, + 0.0, + 33.424, + -0.0 + ], + [ + 2206.558, + 160.792, + 136.128, + 0.0, + 33.424, + -0.0 + ], + [ + 2311.602, + 230.119, + 113.559, + 0.0, + 33.424, + -0.0 + ], + [ + 2311.602, + 230.119, + 113.559, + 0.0, + 33.424, + -0.0 + ] + ], + "Rationale": [ + "Two white picket runs flank the front walk, and the one on the far side of the walk and mailbox is my target; its left end is the post standing right beside that walk. I am still out on the road behind the concrete barriers, so I will walk forward toward the yard.", + "The fence run beyond the mailbox has grown noticeably wider in view, so my heading across the road is good. I will keep walking forward to close the remaining gap to the curb.", + "The barriers sit close ahead and the picket run past the mailbox now fills much of my view, but I am still on the pavement. Another forward step should bring me up to the grass verge and curb line.", + "I have cleared the barrier line and the mailbox post now stands directly ahead with the paved walk opening beside it. I will step forward again to reach the edge of the yard.", + "The mailbox is right in front of me and the last step gained only a little ground on this verge. I will press forward once more to settle at the property edge before turning toward the fence beyond the walk.", + "The mailbox post and its planting crowd my front, leaving me no room to swing onto the paving without brushing them. I will back up a little to open space for a clean turn toward the walkway entrance.", + "From this stand-off the mailbox still blocks straight ahead, while the broad concrete apron and walk opening lie off to my left. Turning left should line me up with that paving so I can enter the yard rather than push through grass and planting.", + "The open paving now runs ahead of me past the curb, clear of the mailbox and the planting strip. I will walk forward onto it, since the fence run on the far side of the front walk is where I still need to arrive.", + "I am up on the paving now, but my heading runs along the picket line on this near side of the walk, which is not the run I want. Turning right should swing the front walk and the fence beyond it back into the centre of my view.", + "The porch and front walk sit square ahead again, with the picket run I am after stretching along the far side of that walk. Nothing blocks the paving in front of me, so I will walk forward to close the distance to the yard.", + "From this spot the run I am heading for has drifted off toward my right shoulder while the walk carries straight on to the porch. I will turn right so that the near end of that run, the post standing at the edge of the paving, comes into the middle of my view.", + "The picket run past the walk now sits ahead and slightly right, with its first post clearly separate from the line on the other side. Grass and paving between us are open, so I will step forward to bring that end within reach.", + "I have drawn level with the walk, and the run I want begins just off my right at the post beside the paving. Turning right should face that end squarely instead of letting me carry on toward the porch steps.", + "The pickets now lie across my front, running away to the right from the post nearest me. A step forward should carry me over the last of the paving to that end of the run.", + "The fence fills my view with the corner post close on my left and the pickets angling off to the right, so I am nearly at the end I want. One more short step should place me alongside that terminating post.", + "The terminating post of this picket run stands right at my shoulder, with the pickets running away to my right. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001488_y-001575_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001488_y-001575_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba62529cd983d342fa3426d402612ea08fffbc14 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001488_y-001575_z000168_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the closed white door on the right.", + "Type": 2, + "Start_Pose": [ + 1488.178, + -1574.678, + 168.15, + 0.0, + -171.704, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1488.178, + -1574.678, + 168.15, + 0.0, + -171.704, + 0.0 + ], + [ + 1488.178, + -1574.678, + 168.15, + 0.0, + -146.704, + 0.0 + ], + [ + 1382.979, + -1643.77, + 168.15, + 0.0, + -146.704, + 0.0 + ], + [ + 1277.781, + -1712.862, + 168.15, + 0.0, + -146.704, + 0.0 + ], + [ + 1277.781, + -1712.862, + 168.15, + 0.0, + -121.704, + 0.0 + ], + [ + 1211.638, + -1819.94, + 168.15, + 0.0, + -121.704, + 0.0 + ], + [ + 1145.495, + -1927.017, + 168.15, + 0.0, + -121.704, + 0.0 + ], + [ + 1145.495, + -1927.017, + 168.15, + 0.0, + -121.704, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the garage, the only closed white door sits far to my right, half cut off at the edge of my view, while the wide sectional panel fills the left. I will turn right to bring that white door properly in front of me before walking toward it.", + "The closed white door with the brass knob now stands clearly ahead and slightly right, with open concrete floor between me and it. Nothing blocks the path, so I will step forward to close the distance.", + "The white door has grown larger and its knob is easier to see, so my heading is still carrying me toward it. The floor in front of me remains clear of the workbench and bins on the left, so I will keep walking forward.", + "As I have advanced, the white door has drifted toward the right side of my view and I am now angled past it. Turning right should square my heading with the door so the last steps take me straight to it.", + "The closed white door is now centered ahead of me with its frame fully visible and the floor in front of it empty. I will walk forward to close the remaining gap to it.", + "The white door now fills most of my view and its brass knob and lever are clearly resolved, but I am still a stride short of standing at it. One more step forward should bring me right up to the door.", + "The closed white door's brass knob and lever are directly in front of me at arm's length, filling my view. I have reached the target door, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001503_y000494_z000120_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001503_y000494_z000120_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9385493a3255307dc6c3356ad5741c1249f9e7cc --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001503_y000494_z000120_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Cross the walkway to the white front door of the two-story house and open it.", + "Type": 4, + "Start_Pose": [ + 1503.319, + 494.476, + 119.655, + -0.01, + 128.342, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1503.319, + 494.476, + 119.655, + -0.01, + 128.342, + 0.0 + ], + [ + 1425.242, + 593.19, + 115.128, + -0.01, + 128.342, + 0.0 + ], + [ + 1425.242, + 593.19, + 115.128, + -0.01, + 103.342, + 0.0 + ], + [ + 1396.198, + 715.652, + 113.863, + -0.01, + 103.342, + 0.0 + ], + [ + 1367.155, + 838.114, + 119.331, + -0.01, + 103.342, + 0.0 + ], + [ + 1338.111, + 960.576, + 127.421, + -0.01, + 103.342, + 0.0 + ], + [ + 1338.111, + 960.576, + 127.421, + -0.01, + 78.342, + 0.0 + ], + [ + 1363.543, + 1083.839, + 135.564, + -0.01, + 78.342, + 0.0 + ], + [ + 1388.976, + 1207.102, + 143.708, + -0.01, + 78.342, + 0.0 + ], + [ + 1388.976, + 1207.102, + 143.708, + -0.01, + 103.342, + 0.0 + ], + [ + 1359.932, + 1329.564, + 159.843, + -0.01, + 103.342, + 0.0 + ], + [ + 1330.888, + 1452.026, + 164.969, + -0.01, + 103.342, + 0.0 + ], + [ + 1330.888, + 1452.026, + 164.969, + -0.01, + 103.342, + 0.0 + ], + [ + 1330.888, + 1452.026, + 164.969, + -0.01, + 103.342, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the public sidewalk I can see the two-story house on my left, with its white front door set back under the covered porch. The walkway that leads to that door branches off ahead of me, so I will move forward along the pavement to reach the point where I can turn onto it.", + "I am now beside the opening where the front walkway meets the sidewalk, and the house with its white door sits off to my left rather than straight ahead. I will turn left to face up the walkway so my next forward steps carry me toward the door instead of past the property.", + "The paved walkway now runs straight from my feet toward the porch, and the white front door is centered ahead between the two hedges. I will move forward along this clear path to close distance with the door.", + "The house has grown noticeably larger and the porch with the white door is still directly up the walkway ahead of me. Nothing blocks the pavement, so I will keep advancing to shorten the remaining distance.", + "The porch roof and railing now fill much of my view, and the white front door sits just left of the walkway's end. I will continue forward to bring myself up close to the porch before fine tuning my heading.", + "At this close range the white door is no longer centered but offset to the left of my heading, with the porch railing and flag taking up the right side of my view. I will turn left to place the door in front of me before stepping onto the porch.", + "The white door with its sidelights is now framed ahead of me at the end of the short walkway, just past the potted plant. I will move forward to step up toward the porch decking directly in front of the door.", + "I am right at the edge of the porch decking with the white door and its brass handle clearly ahead of me. I will advance once more to get within arm's reach of the handle before attempting to open it.", + "I am now up on the porch decking, but the white front door sits off to the right of my heading while a porch column and railing crowd the left of my view. I will turn right to bring the door panel and its handle to the center of my view so a straight approach stays clear of the column.", + "The white front door with its sidelights is now squarely ahead of me across open porch boards, with nothing between me and it. I will step forward to close the remaining gap toward the door.", + "The door fills most of my view now and the brass lever handle and deadbolt are clearly visible slightly right of center. I will move forward once more to get within arm's reach of that handle before attempting to open it.", + "I am right against the white front door with the deadbolt and brass handle filling my view at reach height. This is the interaction position I aimed for, so I will operate the handle, which should release the latch and swing the door open.", + "The doorway now shows the open interior hallway and kitchen beyond the threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001506_y000913_z000125_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001506_y000913_z000125_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b7b2eb582deb7e71da1c14cff60512f580bec76a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001506_y000913_z000125_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Walk to the spot with the American flag first, then continue to the red car in the driveway.", + "Type": 3, + "Start_Pose": [ + 1505.85, + 913.169, + 124.527, + 0.0, + 157.741, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1505.85, + 913.169, + 124.527, + 0.0, + 157.741, + -0.0 + ], + [ + 1389.37, + 960.844, + 127.677, + 0.0, + 157.741, + -0.0 + ], + [ + 1272.89, + 1008.518, + 130.826, + 0.0, + 157.741, + -0.0 + ], + [ + 1272.89, + 1008.518, + 130.826, + 0.0, + 132.741, + -0.0 + ], + [ + 1187.471, + 1100.953, + 136.933, + 0.0, + 132.741, + -0.0 + ], + [ + 1102.052, + 1193.387, + 143.04, + 0.0, + 132.741, + -0.0 + ], + [ + 1102.052, + 1193.387, + 143.04, + 0.0, + 132.741, + -0.0 + ], + [ + 1102.052, + 1193.387, + 143.04, + 0.0, + 132.741, + -0.0 + ], + [ + 1102.052, + 1193.387, + 143.04, + 0.0, + 157.741, + -0.0 + ], + [ + 1102.052, + 1193.387, + 143.04, + 0.0, + -177.259, + 0.0 + ], + [ + 976.337, + 1187.369, + 142.642, + 0.0, + -177.259, + 0.0 + ], + [ + 850.622, + 1181.35, + 142.244, + 0.0, + -177.259, + 0.0 + ], + [ + 724.907, + 1175.331, + 141.847, + 0.0, + -177.259, + 0.0 + ], + [ + 599.192, + 1169.312, + 141.449, + 0.0, + -177.259, + 0.0 + ], + [ + 473.477, + 1163.294, + 141.051, + 0.0, + -177.259, + 0.0 + ], + [ + 373.179, + 1157.358, + 140.659, + 0.0, + -177.259, + 0.0 + ], + [ + 373.033, + 1152.849, + 140.361, + 0.0, + -177.259, + 0.0 + ], + [ + 373.003, + 1148.071, + 140.046, + 0.0, + -177.259, + 0.0 + ], + [ + 465.298, + 1152.49, + 140.338, + 0.0, + -177.259, + 0.0 + ], + [ + 465.298, + 1152.49, + 140.338, + 0.0, + -152.259, + 0.0 + ], + [ + 353.905, + 1093.906, + 136.467, + 0.0, + -152.259, + 0.0 + ], + [ + 242.512, + 1035.321, + 132.597, + 0.0, + -152.259, + 0.0 + ], + [ + 174.939, + 978.826, + 129.002, + 0.0, + -152.259, + 0.0 + ], + [ + 174.939, + 978.826, + 129.002, + 0.0, + -152.259, + 0.0 + ] + ], + "Rationale": [ + "The American flag hangs from the porch post ahead on my left, and the red car sits further off in the driveway to the right. Since the flag is where I must go first, I will walk forward across the lawn to close that distance.", + "The porch and its hanging flag now fill more of my view, so my previous step clearly shortened the gap. I will keep walking forward over the grass to draw closer to the flag before I concern myself with the car.", + "The flag now sits well toward the left edge of my view while my heading points along the lawn toward the driveway. I will turn left so the porch with the flag comes in front of me and my next steps carry me straight at it.", + "The turn has brought the flag and the porch it hangs from squarely into the middle of my view. Nothing but open grass lies between me and the porch, so I will walk forward to reach the flag.", + "The porch railing and flower boxes are close now, and the flag hangs high at the top of my view from the roof edge just ahead. One more step forward should put me right at the spot beneath the flag.", + "I am right up against the porch rail and its planters, but the overhang cuts off everything above me, so the flag I came for is out of my view. I will look up to bring the underside of the porch roof into sight and confirm the American flag is mounted here.", + "The American flag hangs on its pole from the porch overhang directly above me, close enough that I can see the bracket holding it. That is the flag spot, and I have arrived at it. I mark reaching it and set off for the red car in the driveway.", + "With the flag confirmed overhead, my heading is pinned into the house wall and porch ceiling, which shows me nothing of the driveway. I will turn right, since the garage and driveway lie off that edge of my view, to swing my facing away from the siding.", + "The red car is now in sight on the driveway, but it sits well over toward the right side of my view while the porch still occupies the left. I will turn right again so the car falls closer to the center of my heading before I start walking.", + "The red car in the driveway now sits roughly ahead of me, with only open lawn and a low post between us. I will walk forward to close that gap toward the driveway.", + "The red car parked on the driveway sits ahead of me, just left of center, with open lawn between us. My heading already lines up with it, so no turn is needed. I will walk forward to close the remaining distance.", + "The red car now fills more of my view and its wheels and doors are clearly resolved, so my last step brought me meaningfully nearer. The grass ahead is still open and the car remains centered in front of me. I will keep walking straight toward it.", + "The red car is close enough now that I can see the driveway slab and the short lamp posts lining its edge. Nothing blocks the strip of grass directly in front of me, and the car stays squarely ahead. I will step forward again to reach the pavement beside it.", + "I am at the grass line where the driveway begins, with the red car broadside just a few paces away between the low posts. The gap between two of those posts lies straight ahead of me. I will advance through it toward the car.", + "I am standing on the driveway slab with the red car's flank filling the right half of my view and one lamp post rising close in front of me. There is still a stride of open pavement toward the car's front fender. I will take another step forward to draw alongside it.", + "The red car in the driveway now fills most of my view, its front fender and wheel just ahead of me on the pavement. I am nearly at it, so I will take one more step forward to stand right beside its flank.", + "My last step forward barely shifted my position; the view of the car's front wheel and door is almost unchanged, so the body of the car seems to be blocking me. I will try pressing forward once more in case only a slight edge is catching me.", + "Two forward attempts in a row left me essentially in place, with the car's side panel still crowding the same part of my view, so this heading is plainly blocked. I will back up along the driveway to open some clearance and room to reorient.", + "Backing off has given me space, and I can now see the whole red car parked across the driveway with the pavement and bollards continuing to my right. Since pushing straight at its side was blocked, I will turn right to face the open driveway alongside it.", + "From this new heading the red car sits to my left with clear driveway pavement running ahead past the bollards. I will walk forward along that open stretch to close in on the car from a side that is not blocked.", + "The red car's flank now fills the left of my view and the driveway pavement runs open ahead of me, so nothing blocks another step. I still stand out near the car's front half rather than beside it, so I will walk forward along the driveway to close the remaining gap.", + "I am now right alongside the red car, its doors and rear wheel filling most of my view at arm's length. A short additional step should bring me level with the vehicle rather than leaving me trailing off its front, so I will advance once more.", + "The red car in the driveway is directly beside me, its window and body filling my view at touching distance. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001518_y000038_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001518_y000038_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9039215f96b6c02de5f8456182e078c5e55a53ca --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001518_y000038_z000098_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the trash bin visible on the left sidewalk.", + "Type": 2, + "Start_Pose": [ + 1517.503, + 37.51, + 98.112, + 0.0, + -176.815, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1517.503, + 37.51, + 98.112, + 0.0, + -176.815, + 0.0 + ], + [ + 1391.838, + 30.517, + 98.112, + 0.0, + -176.815, + 0.0 + ], + [ + 1391.838, + 30.517, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1274.992, + 77.288, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1158.146, + 124.058, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1041.3, + 170.829, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 924.454, + 217.6, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 807.608, + 264.37, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 690.762, + 311.141, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 589.372, + 357.114, + 98.15, + 0.0, + 158.185, + -0.0 + ], + [ + 589.372, + 357.114, + 98.15, + 0.0, + 158.185, + -0.0 + ] + ], + "Rationale": [ + "Two bins stand across from each other along this street, one at the left curb beside the hedge fronting the cream house with the red car, and one on the right sidewalk; the left one is my target. It is still far down the block, so I will walk forward along the road to close distance.", + "Walking straight along the road keeps my bin sitting off to the left edge of my view while the road runs on past it. I will turn left so the left sidewalk and that bin come toward the middle of my heading before I press on.", + "The turn has swung my view onto the left sidewalk, and the gray bin now sits ahead beside the hedge with the red car in the driveway behind it. With that heading set, I will step forward to close the remaining stretch of road.", + "My bin is holding its place slightly left of center at the curb and has grown a little since I last stepped, so my heading is carrying me toward it. Nothing blocks the lane ahead, so I will keep walking forward.", + "The bin by the hedge is noticeably nearer now, its body and dark lid clearly separated from the greenery behind it. Still several strides short of standing beside it, I will continue forward.", + "The bin now stands out plainly at the curb edge just left of my path, with its wheel visible at the base. That is close but not yet alongside me, so another step forward should bring me nearer.", + "The bin has grown large in front of me, resting against the curb with the hedge and the red car in the driveway just beyond it. A short advance should place me right at it, so I will step forward again.", + "The bin now fills much of my view at close range, its open dark rim visible above me on the sidewalk edge. I am nearly beside it, so one more forward step should bring me right up to it.", + "The bin stands directly ahead of me at the curb, its front panel and pedestrian symbol filling the lower part of my view with the red car parked behind the hedge. A short step should close the last bit of gap and put me flush against it.", + "The curbside bin's dark open rim is right against me, filling my lower view. I have arrived at it, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001518_y000038_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001518_y000038_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0cdc7a275a58d7bc83e2faffb1c8ac2f3292ee --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001518_y000038_z000098_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "First, walk towards the large split tree on the left side of the road, then proceed to the trash bin on the right sidewalk.", + "Type": 3, + "Start_Pose": [ + 1517.503, + 37.51, + 98.112, + 0.0, + -176.815, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1517.503, + 37.51, + 98.112, + 0.0, + -176.815, + 0.0 + ], + [ + 1517.503, + 37.51, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1400.657, + 84.281, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1283.811, + 131.051, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1166.965, + 177.822, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 1050.119, + 224.592, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 933.273, + 271.363, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 816.427, + 318.133, + 98.112, + 0.0, + 158.185, + -0.0 + ], + [ + 816.427, + 318.133, + 98.112, + 0.0, + 133.185, + -0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + 133.185, + -0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + 133.185, + -0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + 158.185, + -0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + -176.815, + 0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + -151.815, + 0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + -126.815, + 0.0 + ], + [ + 730.294, + 409.903, + 108.82, + 0.0, + -101.815, + 0.0 + ], + [ + 704.524, + 286.711, + 98.168, + 0.0, + -101.815, + 0.0 + ], + [ + 678.754, + 163.518, + 98.168, + 0.0, + -101.815, + 0.0 + ], + [ + 678.754, + 163.518, + 98.168, + 0.0, + -76.815, + 0.0 + ], + [ + 707.462, + 40.977, + 98.168, + 0.0, + -76.815, + 0.0 + ], + [ + 736.17, + -81.564, + 98.168, + 0.0, + -76.815, + 0.0 + ], + [ + 764.878, + -204.105, + 98.168, + 0.0, + -76.815, + 0.0 + ], + [ + 764.878, + -204.105, + 98.168, + 0.0, + -101.815, + 0.0 + ], + [ + 754.101, + -314.823, + 98.15, + 0.0, + -101.815, + 0.0 + ], + [ + 754.101, + -314.823, + 98.15, + 0.0, + -101.815, + 0.0 + ] + ], + "Rationale": [ + "From the middle of the road I can see the row of big trees lining the left verge, with one thick trunk splitting into two limbs above the hedge. My heading points straight down the centre line, so I will turn left to put that tree line ahead of me before walking.", + "Now the left sidewalk, its hedge and the line of trunks fill my view, so my heading suits an approach along that side. The split trunk I want is still several house widths away, so I will walk forward to close the gap.", + "The houses and hedge on the left are sliding past, confirming that walking on this heading brings me nearer to the trees. The trunks I am aiming for are still well ahead, so I will keep advancing.", + "The pale double trunk beside the grass strip is growing clearly on my left, and a bin stands at the kerb just past it. Nothing blocks the lane ahead, so I will continue walking towards that tree.", + "The tree on the left verge now shows its trunk dividing above the hedge line, which matches the split tree I am heading for. It is still a few strides off to my forward left, so I will step forward again.", + "The trunk and the kerbside bin beside it are close now, both filling much of my left foreground. I am not yet level with the tree, so another step forward should bring me alongside it.", + "The bark of the big trunk fills my left side and the bin is right at my shoulder, so I am almost level with the split tree. One more step should place me beside it on the verge.", + "I am now level with the broad trunk, but it sits off to my left while my view still runs down the road. Turning left should face me squarely towards the tree and the grass strip it stands on.", + "The heavy pale trunk that divides above the grass verge now stands just ahead of me, off the curb on the left side of the road. One more step should bring me right up beside it rather than leaving me out in the lane.", + "The broad split trunk on the left verge fills my view from the grass at my feet up past the hedge line, close enough to touch. I have reached the large split tree, so I mark arriving here before heading for the trash bin standing on the sidewalk across on the right.", + "The trunk directly in front of me blocks almost everything, and the bin I want sits on the far sidewalk behind my right shoulder. I will swing right to pull the roadway and the opposite side of the street back into view.", + "The trunk has slid to my left and the pavement is opening on the right, but I am still angled at the yards on this side. Another turn to the right should carry my heading further toward the open street.", + "The curbside container beside me now sits in the middle of my view with the road stretching away past it, yet my heading still runs along this near side. I will keep rotating right so the houses opposite come in front of me.", + "My view is now down the length of the street rather than across it, with the near container off to my left. Continuing right should turn me toward the far sidewalk and the houses along it.", + "I am looking across the asphalt at the houses on the opposite side, and a bin stands by the hedge in front of the grey house to the right of my heading. One more turn right should put it straight ahead of me.", + "The bin on the far sidewalk, standing at the hedge in front of the grey house, is now lined up ahead of me across the open road. Walking straight forward should carry me over the asphalt and cut the distance to it.", + "The gray bin standing at the far curb beside the utility pole is clearly larger now, but I am still out on the roadway. I will keep walking straight across to cut down the remaining distance to that sidewalk.", + "The bin sits a little to the right of my heading, so walking straight on would carry me past it along the street. A small turn to the right should point me more directly at the curb where it stands.", + "With my heading now set toward the near side of the sidewalk, the bin sits ahead and slightly left against the hedge. I will step forward to close the last stretch of roadway between us.", + "The bin has grown noticeably and the curb line is close beneath it, so I am nearly at the sidewalk. Another stride forward should bring me right up beside it.", + "The bin now fills a good part of my left foreground with its lid clearly visible, meaning only a short gap remains. I will advance once more to draw level with it at the curb.", + "The bin has slid to the very edge of my view on the left and is partly cut off, so I can no longer judge my distance to it. Turning left should bring it back in front of me for a controlled final approach.", + "The bin is back in front of me, standing on the grass strip beside the sidewalk just a step or two away. I will move forward to close that last bit and stand right at it.", + "The bin is directly beside me at the near edge of my view, on the sidewalk strip in front of the house. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001575_y000877_z000122_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001575_y000877_z000122_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a041788e87fe0e19c418839869b987a14af57b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001575_y000877_z000122_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the third bush in the sequence starting from the left.", + "Type": 2, + "Start_Pose": [ + 1574.663, + 877.487, + 122.169, + -0.033, + 38.874, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1574.663, + 877.487, + 122.169, + -0.033, + 38.874, + 0.0 + ], + [ + 1672.648, + 956.477, + 127.657, + -0.033, + 38.874, + -0.0 + ], + [ + 1770.632, + 1035.468, + 132.774, + -0.033, + 38.874, + -0.0 + ], + [ + 1868.617, + 1114.458, + 137.891, + -0.033, + 38.874, + -0.0 + ], + [ + 1868.617, + 1114.458, + 137.891, + -0.033, + 13.874, + -0.0 + ], + [ + 1990.804, + 1144.637, + 139.846, + -0.033, + 13.874, + -0.0 + ], + [ + 2112.991, + 1174.817, + 141.801, + -0.033, + 13.874, + -0.0 + ], + [ + 2235.179, + 1204.996, + 143.756, + -0.033, + 13.874, + -0.0 + ], + [ + 2235.179, + 1204.996, + 143.756, + -0.033, + 13.874, + -0.0 + ] + ], + "Rationale": [ + "A row of shrubs runs along the low brick wall in front of the white house, and counting from the left end beside the picket fence, the third one is my target. They all look alike, so I hold its place as the shrub sitting just left of the leaning tree trunk. I step forward to close the distance.", + "The shrubs along the wall are larger now but still well across the lawn. My target, the one standing just left of the tree trunk, remains clearly ahead of me. I keep walking straight toward it.", + "The brick wall and the shrubs above it now fill much of what is ahead, but I am still several paces short of the one I chose beside the tree trunk. The open grass in front of me is clear. I advance again.", + "As I have come closer, the left part of the run has drifted off to my left edge, and the shrub I chose beside the tree trunk sits left of where I am heading. Walking on now would carry me past it toward the fence corner. I turn left to bring it in front of me.", + "The turn has put the whole run of shrubs squarely in front of me, with the tree trunk and my chosen shrub near the middle of my path. Nothing blocks the grass between us. I walk forward toward it.", + "The shrubs now rise above the wall directly ahead and their leaves are clearly resolved, so I am only a couple of paces short. My target is the one aligned with my path beside the tree. I step forward again to close in.", + "The shrubs now loom close, and up close the run no longer reads as a countable row, but the one I picked out at the start is the tall shrub straight ahead of me. I still need a step to stand right at its base. I move forward once more.", + "The target shrub stands immediately in front of me, its foliage within arm's reach on both sides. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001587_y-000945_z000127_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001587_y-000945_z000127_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c2d54d2d3da557af2d66118e7b4e4af8048af73 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001587_y-000945_z000127_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the patio table first, then go to where the fence meets the bushes on the right.", + "Type": 3, + "Start_Pose": [ + 1586.867, + -944.791, + 126.616, + -0.2, + -3.81, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1586.867, + -944.791, + 126.616, + -0.2, + -3.81, + -0.0 + ], + [ + 1586.867, + -944.791, + 126.616, + -0.2, + -28.81, + -0.0 + ], + [ + 1697.147, + -1005.443, + 130.826, + -0.2, + -28.81, + -0.0 + ], + [ + 1807.427, + -1066.095, + 149.818, + -0.2, + -28.81, + -0.0 + ], + [ + 1905.318, + -1111.704, + 149.882, + -0.2, + -28.81, + -0.0 + ], + [ + 1905.318, + -1111.704, + 149.882, + -0.2, + -28.81, + -0.0 + ], + [ + 1905.318, + -1111.704, + 149.882, + -0.2, + -3.81, + -0.0 + ], + [ + 1905.318, + -1111.704, + 149.882, + -0.2, + 21.19, + 0.0 + ], + [ + 2022.497, + -1065.88, + 149.882, + -0.2, + 21.19, + 0.0 + ], + [ + 2139.846, + -1020.387, + 138.086, + -0.2, + 21.19, + 0.0 + ], + [ + 2139.846, + -1020.387, + 138.086, + -0.2, + 46.19, + -0.0 + ], + [ + 2226.974, + -929.563, + 126.121, + -0.2, + 46.19, + -0.0 + ], + [ + 2309.062, + -900.06, + 124.218, + -0.2, + 46.19, + -0.0 + ], + [ + 2309.062, + -900.06, + 124.218, + -0.2, + 46.19, + -0.0 + ] + ], + "Rationale": [ + "The umbrella-shaded patio table with its chairs sits off to my left on the concrete slab, well outside my forward heading. I will turn left to bring that table squarely ahead so I can walk straight to it.", + "The patio table under its umbrella now sits centered ahead of me across the paved slab. With a clear stretch of concrete between us, I will walk forward to close that distance.", + "The table and its chairs have grown noticeably larger and stay lined up straight ahead of me. The paving remains open, so I will keep walking toward it.", + "The umbrella canopy now spreads across the top of my view and the tabletop with its chairs is only a step or two away. One more forward step should bring me right up beside the table.", + "The tabletop and its chair back are right beside me with the umbrella pole rising at my shoulder. I am at the patio table, so I mark reaching it and turn my attention toward the far corner where the fence runs into the bushes on the right.", + "Standing at the table, my view is filled by the umbrella and the wooden fence off to the left, none of which leads to the bushes. I will turn right to swing my heading around toward the yard's right side where the fence and the shrubbery meet.", + "The white picket fence now runs across my view and the dark hedge is just appearing at the right edge, still not centered. I will turn right again to put the place where that fence line meets the bushes ahead of me.", + "The picket fence and the tall hedge now sit together ahead of me, with their junction near the middle of my view. The lawn between is open, so I will walk forward to close on that corner.", + "The tall hedge fills the right side of my view and the white picket fence runs left along the lawn toward it, so the corner where the two meet lies ahead of me. I will walk forward again to close the remaining gap along the grass strip.", + "I am now beside the hedge, and the point where the picket fence ends against its leafy wall sits off to my right rather than straight ahead. Turning right should put that junction in front of me so I can step toward it directly.", + "The fence pickets and the hedge now line up ahead along the same edge of the lawn, with their meeting point still a little further on. I will step forward to bring myself right up to that junction.", + "The hedge foliage is close on my right and the last pickets are just at my left shoulder, so the two are nearly touching at my position. One more short step forward should place me squarely at the spot where the fence meets the bushes.", + "The picket fence ends right beside me where the dense bushes begin on my right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001633_y001204_z000144_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001633_y001204_z000144_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed68230755644a7265c291d8aea65ac2e5a36ed --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001633_y001204_z000144_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Explore the area to find and go to the mailbox.", + "Type": 1, + "Start_Pose": [ + 1633.104, + 1204.359, + 143.788, + 0.0, + 112.09, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1633.104, + 1204.359, + 143.788, + 0.0, + 112.09, + -0.0 + ], + [ + 1633.104, + 1204.359, + 143.788, + 0.0, + 137.09, + -0.0 + ], + [ + 1633.104, + 1204.359, + 143.788, + 0.0, + 162.09, + -0.0 + ], + [ + 1633.104, + 1204.359, + 143.788, + 0.0, + -172.91, + 0.0 + ], + [ + 1633.104, + 1204.359, + 143.788, + 0.0, + -147.91, + 0.0 + ], + [ + 1526.474, + 1137.496, + 139.402, + 0.0, + -147.91, + 0.0 + ], + [ + 1526.474, + 1137.496, + 139.402, + 0.0, + -122.91, + 0.0 + ], + [ + 1458.093, + 1031.835, + 132.422, + 0.0, + -122.91, + 0.0 + ], + [ + 1389.711, + 926.173, + 125.441, + 0.0, + -122.91, + 0.0 + ], + [ + 1321.329, + 820.511, + 118.461, + 0.0, + -122.91, + 0.0 + ], + [ + 1321.329, + 820.511, + 118.461, + 0.0, + -97.91, + 0.0 + ], + [ + 1304.879, + 695.839, + 113.842, + 0.0, + -97.91, + 0.0 + ], + [ + 1287.559, + 571.178, + 117.063, + 0.0, + -97.91, + 0.0 + ], + [ + 1287.559, + 571.178, + 117.063, + 0.0, + -97.91, + 0.0 + ] + ], + "Rationale": [ + "From here I only see the side of the house, its porch steps, and a tall privacy fence closing off the yard, with no mailbox anywhere in view. I will turn right to begin a steady scan of the surroundings, since a mailbox is more likely out along the front of the property than against this fenced side wall.", + "Turning has opened up the covered porch, a flag, and a paved walkway leading away from the steps, but there is still no mailbox in sight. I will keep rotating in the same direction to follow that walkway line toward the street edge, where a curbside mailbox would usually stand.", + "Now I can see the front lawn, the sidewalk, a red car at the driveway, and houses across the way, yet no mailbox is distinguishable. Continuing the same rightward scan should bring more of the street frontage and curb into view, which is the most promising area for the target.", + "This heading shows the trimmed hedge running along the lawn and the road beyond it, but the mailbox is still not clearly identifiable from this distance. I will turn a bit further right so the sidewalk and curb strip fill the center of my view before I commit to walking out that way.", + "The sidewalk and the road frontage are now directly ahead with an open grassy strip between the hedges, and a slim upright post stands near the curb on the right, which is a plausible mailbox support. Rather than rotating any further, I will walk forward along this open lawn and paving to close distance on that curb area and get a clearer look.", + "Stepping forward brought me next to the hedge, and the wooden post at the curb is now off to my right rather than in front of me. I will turn right to place the sidewalk corridor and that post near the center of my heading so I can approach it in a straight line.", + "The turn lined me up with the sidewalk running between the hedges, and a narrow post stands ahead near the curb where a mailbox would be mounted. I will walk forward along this clear paving to shorten the distance and confirm what is on top of that post.", + "I am closer now and the wooden post ahead by the curb clearly carries a box-shaped fixture at its top, consistent with the mailbox I am looking for. Since the path along the sidewalk stays clear, I will keep walking forward to reach it.", + "The wooden post with a mailbox on top now stands clearly ahead of me at the edge of the grass strip beside the street, just right of my heading. The sidewalk in front of me is clear of the hedge, so I will walk forward to close the remaining distance to that post.", + "I am now close to the mailbox, but it sits off to the right of my current heading while my body still points down the sidewalk. I will turn right to bring the post squarely in front of me so my next steps head straight at it.", + "The mailbox post is now centered directly ahead of me across a short stretch of sidewalk and grass. With nothing blocking that line, I will step forward to reduce the gap to the target.", + "The mailbox and its raised flag are close enough now that the box fills a good part of my forward view, but I am still a stride short of standing at it. I will take one more step forward so I am right beside the mailbox.", + "The mailbox on its wooden post is directly beside me, filling the near foreground at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001637_y000244_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001637_y000244_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe1faa50bf3b7586dd169c4b449d8a044a772071 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001637_y000244_z000098_t2_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the large tree in the center.", + "Type": 2, + "Start_Pose": [ + 1637.431, + 243.935, + 98.226, + 0.0, + -27.141, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1637.431, + 243.935, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1637.431, + 243.935, + 98.226, + 0.0, + -52.141, + 0.0 + ], + [ + 1714.673, + 144.566, + 98.226, + 0.0, + -52.141, + 0.0 + ], + [ + 1714.673, + 144.566, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1826.674, + 87.152, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1826.674, + 87.152, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 1952.445, + 82.45, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 2078.216, + 77.748, + 121.705, + 0.0, + -2.141, + 0.0 + ], + [ + 2203.987, + 73.046, + 115.384, + 0.0, + -2.141, + 0.0 + ], + [ + 2329.758, + 68.344, + 113.398, + 0.0, + -2.141, + 0.0 + ], + [ + 2329.758, + 68.344, + 113.398, + 0.0, + -27.141, + 0.0 + ], + [ + 2441.758, + 10.929, + 121.361, + 0.0, + -27.141, + 0.0 + ], + [ + 2441.758, + 10.929, + 121.361, + 0.0, + -52.141, + 0.0 + ], + [ + 2441.758, + 10.929, + 121.361, + 0.0, + -77.141, + 0.0 + ], + [ + 2469.769, + -111.773, + 122.248, + 0.0, + -77.141, + 0.0 + ], + [ + 2469.769, + -111.773, + 122.248, + 0.0, + -77.141, + 0.0 + ] + ], + "Rationale": [ + "The big broad-crowned tree standing in the middle of the front yard, well ahead of the smaller trees along the neighboring lots, is my target. A line of concrete barriers sits along the curb straight in front of me, so I turn left to face the open lane and set up a cleaner line of travel toward it.", + "The roadway ahead of me is clear, with the barriers now off to my right rather than in my path. I step forward along the street to close distance toward the big yard tree before angling back in toward the house.", + "I have moved far enough along the street that the big yard tree now sits off to my right rather than in front of me. I turn right to bring it and the house frontage back into my forward heading.", + "The big tree is back in front of me, its trunk rising just left of the house entrance beyond the white picket fence. The pavement between me and the curb is open, so I walk forward to close the gap.", + "I am at the curb now, and the fence runs across my front, but the paved front walkway opens to my right and leads straight into the yard where the big tree stands. I turn right to line up with that walkway instead of pressing into the fence line.", + "The front walkway now runs straight ahead from my feet through the gap in the fence toward the porch, and the big tree's trunk stands just to the left of that path. I step forward along the paving to enter the yard and shorten the distance to it.", + "I am inside the yard now, with the porch growing larger ahead and the thick trunk of the big tree at the left edge of my view. The lawn and paving in front of me are clear, so I keep walking forward to draw level with the trunk.", + "The porch steps are close ahead and the heavy trunk of the big yard tree is off to my left, still a few paces further in. Nothing blocks the walkway, so I advance again to bring myself alongside it.", + "The porch fills my view now and the trunk of the big yard tree has slipped past the left edge, meaning I am nearly level with it. One more step along the open walk should put me abreast of the trunk before I turn in toward it.", + "I am close enough to the porch that continuing straight would only bring me to the steps, while the big tree stands off my left shoulder. I turn left to swing my heading away from the house and back toward the trunk.", + "My heading has come around toward the yard, with the flower beds and porch posts sliding rightward and open lawn opening on the left. I step forward to carry myself across toward the tree side of the yard.", + "Facing this way I am looking straight along the porch front rather than at my target, which lies further round to my left. I turn left again to bring the big trunk back into the middle of my view.", + "The heavy trunk has come into the left edge of my view, but it is still off to the side rather than in front of me. Another left turn should center it so I can walk directly up to it.", + "The broad trunk now rises squarely in front of me with only a short stretch of lawn between us. I walk forward to close that last gap and stand right at its base.", + "The big tree's trunk fills my view at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001700_y000251_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001700_y000251_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f509127f2fa357c8b1bdeb68affe03fd97f3f893 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001700_y000251_z000098_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to where the fence meets the bushes on the right.", + "Type": 2, + "Start_Pose": [ + 1700.143, + 250.548, + 98.09, + 0.0, + 13.925, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1700.143, + 250.548, + 98.09, + 0.0, + 13.925, + -0.0 + ], + [ + 1822.303, + 280.836, + 98.09, + 0.0, + 13.925, + -0.0 + ], + [ + 1875.57, + 307.536, + 98.09, + 0.0, + 13.925, + -0.0 + ], + [ + 1875.57, + 331.479, + 98.09, + 0.0, + 13.925, + -0.0 + ], + [ + 1875.57, + 355.422, + 98.09, + 0.0, + 13.925, + -0.0 + ], + [ + 1785.885, + 333.185, + 98.09, + 0.0, + 13.925, + -0.0 + ], + [ + 1785.885, + 333.185, + 98.09, + 0.0, + 38.925, + -0.0 + ], + [ + 1883.8, + 412.263, + 108.938, + 0.0, + 38.925, + -0.0 + ], + [ + 1981.714, + 491.34, + 119.429, + 0.0, + 38.925, + -0.0 + ], + [ + 2079.629, + 570.418, + 117.561, + 0.0, + 38.925, + -0.0 + ], + [ + 2177.543, + 649.496, + 113.164, + 0.0, + 38.925, + -0.0 + ], + [ + 2275.117, + 723.775, + 112.957, + 0.0, + 38.925, + -0.0 + ], + [ + 2275.117, + 723.775, + 112.957, + 0.0, + 38.925, + -0.0 + ] + ], + "Rationale": [ + "The white picket fence runs across the yard ahead, and on the right it ends against the dark mass of bushes; that junction is my destination. Nothing blocks the strip of lawn directly ahead, so I will walk forward to close the distance toward it.", + "The fence line is larger now and the leafy bushes still sit at its right end, so my heading remains reasonable. I am still short of that corner, so I will keep walking forward.", + "The fence now fills much of my view and the bushes it meets are off to my right, but a broad fern-like shrub sits directly in my path and my last step gained less ground than the one before. I will push forward again to see whether I can still make headway toward that corner.", + "My view has barely shifted since the last step, so the shrub in front of me is checking my advance. The fence and bush junction still lies off to my right rather than straight ahead. I will try one more step forward to test whether the way is truly blocked.", + "Two forward steps have gained almost nothing; the shrub ahead is holding me against the fence line and I am pressed too close to swing toward the corner where the fence meets the bushes on my right. I will step back to open clearance and give myself room to reorient.", + "With clearance regained, the shrub no longer crowds me, but the corner where the pickets end against the leafy wall sits well off to my right instead of ahead. Turning right should bring that junction toward the middle of my view and put open ground in front of me.", + "The turn paid off: a paved walk now runs straight ahead with the picket line along my left and the dense hedge banked on my right, the two closing together somewhere further on. This lane looks clear, so I will walk forward toward where they meet.", + "That step gained real ground, with both the fence and the hedge wall grown larger on either side of the walk. The point where the pickets run into the bushes still lies further along the paving, so I keep moving forward.", + "The white pickets and the near face of the hedge now nearly converge just ahead of me, but a stretch of paving still separates me from that corner. I will step forward again to close it.", + "The hedge has swelled across my right side and the fence runs down my left, their meeting point only a short way ahead. One more walk forward should set me right at that corner.", + "The leafy mass has climbed across the right half of my view and the last white pickets on my left run straight into it just a step or two on. I am close but not yet standing at that junction, so I will walk forward once more to reach it.", + "The last pickets on my left end right against the leaves now filling my right side. I am standing at that junction, so the task is complete." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001795_y000288_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001795_y000288_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b47ccd4c40211b561c491696fda4da55bc4ed34 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001795_y000288_z000098_t2_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Go to the front door of the white house ahead.", + "Type": 2, + "Start_Pose": [ + 1795.305, + 287.608, + 98.091, + 0.0, + 13.925, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1795.305, + 287.608, + 98.091, + 0.0, + 13.925, + -0.0 + ], + [ + 1875.565, + 315.988, + 98.091, + 0.0, + 13.925, + -0.0 + ], + [ + 1875.565, + 315.988, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1875.57, + 297.131, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1877.342, + 274.604, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1786.663, + 292.353, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1695.983, + 310.103, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1695.983, + 310.103, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1797.709, + 235.992, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1875.457, + 162.899, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1908.043, + 89.024, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1908.043, + 89.024, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 2031.559, + 64.847, + 115.698, + 0.0, + -11.075, + 0.0 + ], + [ + 2155.074, + 40.671, + 120.209, + 0.0, + -11.075, + 0.0 + ], + [ + 2155.074, + 40.671, + 120.209, + 0.0, + 13.925, + -0.0 + ], + [ + 2277.234, + 70.959, + 113.468, + 0.0, + 13.925, + -0.0 + ], + [ + 2399.394, + 101.247, + 118.427, + 0.0, + 13.925, + -0.0 + ], + [ + 2399.394, + 101.247, + 118.427, + 0.0, + -11.075, + 0.0 + ], + [ + 2522.909, + 77.07, + 127.139, + 0.0, + -11.075, + 0.0 + ], + [ + 2646.424, + 52.893, + 135.851, + 0.0, + -11.075, + 0.0 + ], + [ + 2646.424, + 52.893, + 135.851, + 0.0, + 13.925, + -0.0 + ], + [ + 2768.584, + 83.182, + 144.468, + 0.0, + 13.925, + -0.0 + ], + [ + 2888.783, + 103.046, + 165.15, + 0.0, + 13.925, + -0.0 + ], + [ + 2888.783, + 103.046, + 165.15, + 0.0, + -11.075, + 0.0 + ], + [ + 3012.298, + 78.869, + 165.15, + 0.0, + -11.075, + 0.0 + ], + [ + 3135.813, + 54.692, + 165.15, + 0.0, + -11.075, + 0.0 + ], + [ + 3135.813, + 54.692, + 165.15, + 0.0, + -11.075, + 0.0 + ] + ], + "Rationale": [ + "The white house stands directly ahead, its covered porch and recessed front door visible behind the picket fence and the mailbox at the walkway. Nothing blocks the open lawn between me and that fence line, so I will walk forward to close distance on the porch.", + "From here the porch door sits off to the left of my heading, while my view is centred on the fence and the bay window on the right side of the house. Turning left should bring the front door and the walkway leading to it into the middle of my view.", + "The front door is now roughly ahead at the top of the paved walk, though the mailbox post stands close in front of me and the picket fence runs across the yard between us. I will step forward along this line to see whether the walkway toward the door stays open.", + "That last step gained almost nothing; the mailbox post and the picket fence still sit at the same close distance and the house has barely grown. I will try another step forward to test whether the way toward the porch door is genuinely passable here.", + "Two forward steps have barely moved me, so this line into the mailbox post and the unbroken picket fence is not getting me to the porch. Backing up should open clearance from the post and give me room to reorient toward an opening onto the walkway that reaches the front door.", + "Pulling back has already opened space from the mailbox post, yet the picket fence still runs unbroken across the whole frontage at this spot, so there is no way through here. I will back up once more onto the open pavement behind me, where I should have room to reorient toward wherever the walkway breaks that fence line.", + "Two heavy concrete barriers now sit squarely between me and the yard, so pressing straight toward the walkway is blocked from this stance. Turning left should swing me onto the open lane running along the frontage, giving me a way past the barrier line before I angle back to the porch door.", + "The lane in front of me reads clear now, with the barriers set off to my left and the fenced yard and covered porch holding to my right. I will walk forward along this open stretch to get past the blocked section of curb.", + "That stride carried real distance, and the paved walk climbing to the porch is drawing nearer on my right while the barriers slide behind on my left. Another step along this open lane should bring me level with the point where that walk meets the sidewalk.", + "The barriers have fallen away behind me and the dark front door beneath the porch roof now stands clearly to my right, its walkway spilling onto the pavement just ahead. I will keep moving forward to reach the foot of that walk before turning to face the door.", + "I have come level with the paved walk, which now runs off to my right toward the covered porch and its dark door, while my heading still points down the street. Turning right should put that walk and the door squarely ahead so I can go straight up it.", + "The turn has lined me up on the walk, with the front door centred under the porch roof and the picket fence now opening on either side rather than cutting across my path. Nothing stands in the paved lane between me and the steps, so I will walk forward.", + "That stride closed real ground; the porch columns and the flower beds flanking the walk have grown noticeably and the door is larger ahead. I will keep walking up this open paving to bring the steps within reach.", + "From this spot the door has drifted a little right of the centre of my view while the walk beneath me angles slightly the other way. A small turn to the right should put me squarely on the door before I take the remaining steps toward the porch.", + "The porch deck and its steps are close ahead now, with the dark front door plainly in view past the lamppost and the planted border. I will walk forward along the paving to close the last of this distance.", + "The paving under me still runs clear toward the porch, with the flower border and the lamppost set off to the right of my line. The dark door sits just left of centre but well within reach of this heading, so another stride forward should carry me nearer the deck.", + "Closing in has pushed the door well over to the left edge while the lamppost and the shrub bed now fill the middle of my view. A turn to the left should swing my heading back onto the door before I take the last of the walk.", + "The turn has brought the panelled door back near the middle of my view, framed between the porch railing and the hanging baskets. The walk ahead of me is clear right up to the deck edge, so I will keep walking.", + "The porch ceiling and columns now fill much of my view, and the door with its narrow sidelight stands close under the overhang. A further step along the paving should bring me onto the deck boards in front of it.", + "Standing at the deck now, the hanging basket and railing crowd my left while the door and its sidelight sit a little right of where I am pointed. A short turn to the right should square me on the door for the final approach.", + "The turn has set the panelled door with its slim sidelight just left of centre, and the boards between me and it are bare apart from a planter well off to the side. I will walk forward across them to close on the entry.", + "The door and its brass handle have grown noticeably and the wall lamp beside them is now plain to read, so that stride gained ground. The planking in front stays unobstructed, so another step should bring me within arm's reach of the entry.", + "At this range the door has slid out to the far left edge while the chairs and the window pane occupy the centre of my view. Turning left should recentre the entry so my remaining steps carry me onto it rather than past it toward the seating.", + "The entry sits squarely ahead now, sidelight on its left and brass handle catching the light, with only bare boards between us. I will walk forward to bring myself right up to it.", + "The door now fills most of my view, its handle and lock plate at hand height directly in front of me. One more short step should place me immediately at the threshold, close enough to count as standing at the entry.", + "The panelled door fills my whole view at arm's length. I am standing at the front door, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001795_y000288_z000098_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001795_y000288_z000098_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b9d34ee276adbb2068d0fc4da20c61fd2f724ad --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001795_y000288_z000098_t4_a/infos.json @@ -0,0 +1,304 @@ +{ + "Instruction": "Approach the white house with the central covered entry and open its front door.", + "Type": 4, + "Start_Pose": [ + 1795.305, + 287.608, + 98.091, + 0.0, + 13.925, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1795.305, + 287.608, + 98.091, + 0.0, + 13.925, + -0.0 + ], + [ + 1795.305, + 287.608, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1704.626, + 305.357, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1704.626, + 305.357, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1704.626, + 305.357, + 98.091, + 0.0, + -61.075, + 0.0 + ], + [ + 1765.499, + 195.199, + 98.091, + 0.0, + -61.075, + 0.0 + ], + [ + 1765.499, + 195.199, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1867.225, + 121.088, + 98.091, + 0.0, + -36.075, + 0.0 + ], + [ + 1867.225, + 121.088, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1969.484, + 82.907, + 98.091, + 0.0, + -11.075, + 0.0 + ], + [ + 1969.484, + 82.907, + 98.091, + 0.0, + 13.925, + -0.0 + ], + [ + 2091.644, + 113.195, + 124.511, + 0.0, + 13.925, + -0.0 + ], + [ + 2213.804, + 143.483, + 133.736, + 0.0, + 13.925, + -0.0 + ], + [ + 2213.804, + 143.483, + 133.736, + 0.0, + -11.075, + 0.0 + ], + [ + 2337.319, + 119.306, + 113.099, + 0.0, + -11.075, + 0.0 + ], + [ + 2460.835, + 95.13, + 122.71, + 0.0, + -11.075, + 0.0 + ], + [ + 2584.35, + 70.953, + 131.422, + 0.0, + -11.075, + 0.0 + ], + [ + 2707.865, + 46.776, + 140.134, + 0.0, + -11.075, + 0.0 + ], + [ + 2707.865, + 46.776, + 140.134, + 0.0, + 13.925, + -0.0 + ], + [ + 2830.025, + 77.064, + 160.096, + 0.0, + 13.925, + -0.0 + ], + [ + 2952.185, + 107.353, + 165.006, + 0.0, + 13.925, + -0.0 + ], + [ + 3074.345, + 137.641, + 165.006, + 0.0, + 13.925, + -0.0 + ], + [ + 3074.345, + 137.641, + 165.006, + 0.0, + -11.075, + 0.0 + ], + [ + 3154.484, + 112.109, + 188.127, + 0.0, + -11.075, + 0.0 + ], + [ + 3154.484, + 112.109, + 188.127, + 0.0, + -11.075, + 0.0 + ], + [ + 3154.484, + 112.109, + 188.127, + 0.0, + -11.075, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white house with the central covered porch sits ahead, but the mailbox post and the edge of the frame crowd its entry toward the left side of my view. I will turn left to bring the covered entry and its walkway closer to the center of my heading before committing to an approach.", + "Now that the covered entry is centered, I can see that a white picket fence spans the whole frontage and low concrete barriers sit immediately in front of me, so pressing straight ahead is not a usable route. I will move backward to open distance from those barriers and give myself room to reorient toward a passable way in.", + "From this pulled back position I can see the barrier line and the fence still blocking a direct straight-in approach, with open pavement extending to my left. I will turn left to look along that open ground for a gap or walkway that leads toward the covered entry.", + "The turn has brought the street into view, but my heading still points partly across the barriers rather than along the clear pavement. I will turn left again to line up with the open route so I can travel without fighting the barrier line.", + "I am now facing along the open street with the barriers set off to the side and the house frontage on my right. I will move forward along this clear lane to work past the blocked frontage and reach a position where the walkway to the covered entry is reachable.", + "From the street my heading runs along the roadway, with the white house and its long covered porch off to my right behind the picket fence. I will turn right so that the house front and the paved walk leading to its central entry come into my forward view. That should give me a usable approach line instead of continuing parallel to the property.", + "The white house with the recessed covered entry is now ahead of me, with its front walkway visible past the low picket fence. I will move forward to close the remaining distance from the roadway toward that walkway. The path ahead looks clear of the concrete barriers that sit along the curb.", + "I am closer to the property now, but the covered entry and its dark front door sit off toward the right edge of my view while my heading points across the neighboring yard. I will turn right to bring the facade and the walkway to the central entry into the middle of my view. That should let me continue straight up the approach rather than drifting past the house.", + "The house facade is squarely ahead and the paved walk running to the central covered entry is directly in front of me. I will move forward along this open pavement to shorten the distance to the porch. Nothing blocks this stretch, so the door should grow closer and clearer.", + "I am on the open pavement in front of the house, but my heading is slightly skewed relative to the walkway that runs up to the covered entry, with fencing and garden beds crowding either side of it. I will turn right to square my heading with that approach corridor before pushing on. The entry should stay in view while I follow the paving instead of angling onto the lawn.", + "The white house with the deep covered porch is now squarely in front of me, and its recessed front door sits just left of my heading with the paved walkway running toward it. I am still out near the mailbox and picket fence, so I will move forward along the open paving to close distance on the entry.", + "The porch columns, hanging planters and the front door are noticeably larger now, confirming that this heading keeps carrying me toward the covered entry. The path ahead is unobstructed paving with the fence off to my right, so I will continue forward.", + "From this closer position the front door and its short porch steps sit toward the left of my view while the fence corner and lamppost crowd the right side, so my heading is skewed off the walkway centerline. I will turn left to bring the entry and the path to it into the middle of my view before advancing further.", + "The turn has placed the covered entry and its dark front door near the center of my view, with the straight walkway running from my feet to the porch steps. With the heading now lined up, I will move forward along that walkway to shorten the remaining distance.", + "The porch ceiling, hanging baskets and the recessed doorway now fill much of my view, and the door remains centered ahead of me on the walkway. I am still short of the steps, so I will keep moving forward to reach an interaction distance from the door.", + "The white house with the central covered entry now fills my view, and the dark front door is clearly visible under the porch roof just right of my heading. The paved walkway ahead is clear of the flower beds and stones on either side, so I will move forward to close the remaining distance to the entry.", + "I am at the foot of the covered entry now, with the porch deck, railing and the target door framed directly ahead. Nothing blocks the walkway into the porch, so another forward step should bring me onto the deck and within working range of the door.", + "I am standing on the porch deck, and the front door with its side light sits a little to the right of my current heading while the railing and posts crowd the left side. I will turn right to bring my heading over toward the door's side of the porch before advancing any further.", + "From this heading the door and its trim are visible in the left part of my view, with open deck boards ahead and the chairs and planter set off to the right. Moving forward along the deck should carry me across the porch and cut the remaining distance to the entry.", + "The door is noticeably larger now on the left of my view and its brass handle set is already distinguishable, so I am still short of reaching distance. I will step forward again across the deck to bring the handle close enough for an interaction.", + "I am on the covered porch with the dark front door standing just left of my heading and the siding, lamp, and chairs filling the rest of my view. Advancing straight ahead should close the last of the gap to the wall beside the door so the handle comes within reach. I will move forward before making any fine heading adjustment.", + "My forward motion brought me right up against the siding, and now only the outer edge of the door and its brass handle remain at the far left margin while blank clapboard and a chair fill the rest of my view. My heading is offset past the doorway, so I need to swing left to bring the door leaf and its handle back in front of me. Turning left should restore a usable alignment for reaching the door.", + "The door panel and its brass knob and handle now sit clearly in the left half of my view, so my heading is much better placed on the entry. I am still a short step away from the door face, so a small forward move should bring the handle into interaction range. I will step forward before attempting to open it.", + "I am pressed close to the front door of the white house with the covered entry, with its knob and handle filling the near part of my view. This is the interaction range I needed, so I will attempt to open the door now.", + "The front door now stands open, revealing the lit interior hallway and floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001812_y-000049_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001812_y-000049_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e5e43c716294a8c6628b4b5a2b1f30bfda5dbe6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001812_y-000049_z000098_t3_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "First go to the right edge of the left fence, then go to the yard lamppost.", + "Type": 3, + "Start_Pose": [ + 1812.265, + -49.019, + 98.15, + 0.0, + 22.944, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1812.265, + -49.019, + 98.15, + 0.0, + 22.944, + -0.0 + ], + [ + 1928.167, + 0.045, + 98.15, + 0.0, + 22.944, + -0.0 + ], + [ + 1928.167, + 0.045, + 98.15, + 0.0, + -2.056, + 0.0 + ], + [ + 2053.945, + -4.471, + 118.564, + 0.0, + -2.056, + 0.0 + ], + [ + 2179.723, + -8.986, + 117.893, + 0.0, + -2.056, + 0.0 + ], + [ + 2305.501, + -13.501, + 113.648, + 0.0, + -2.056, + 0.0 + ], + [ + 2305.501, + -13.501, + 113.648, + 0.0, + -2.056, + 0.0 + ], + [ + 2305.501, + -13.501, + 113.648, + 0.0, + 22.944, + -0.0 + ], + [ + 2305.501, + -13.501, + 113.648, + 0.0, + 47.944, + -0.0 + ], + [ + 2389.808, + 79.948, + 117.647, + 0.0, + 47.944, + -0.0 + ], + [ + 2474.116, + 173.397, + 149.847, + 0.0, + 47.944, + -0.0 + ], + [ + 2474.116, + 173.397, + 149.847, + 0.0, + 47.944, + -0.0 + ] + ], + "Rationale": [ + "From the street edge the house stands well ahead, with a white picket fence running along the left side of the front yard. I need to reach the end of that fence nearest the walkway, so I step forward along the paving to close the gap.", + "My heading is skewed toward the mailbox and the right side of the lot, leaving the left picket fence pushed out near the edge of my view. I turn left so the walkway and that fence run sit centered ahead of me.", + "The walkway now runs straight ahead with the white fence bordering the lawn on my left. The end of that fence, where the pickets stop beside the path, is still a fair distance off, so I walk forward along the paving.", + "The fence on my left has grown much larger and its final post near the walkway is now distinct. I am still short of that end, so another stride forward should bring me nearly level with it.", + "Only the last stretch of the left fence remains in view, sliding toward the edge of my vision as the porch grows ahead. I step forward once more to draw even with the fence's right end beside the walk.", + "The white pickets on my left have run out right beside me, with the last post and the walkway edge at my shoulder and the porch steps straight ahead. That places me at the right end of the left picket fence, and I mark reaching it before I head for the tall lamppost standing out in the yard.", + "With the fence end reached, the dark lamppost rising from the lawn lies well off to my right, outside the center of my view. I turn right to begin swinging my heading toward it.", + "The lamppost's dark pole and lantern head now stand just right of center in my view, still not squarely ahead. I turn right again to bring it in line with my heading so I can walk straight toward its base.", + "The tall yard lamppost now rises just left of center ahead of me, with open lawn and walkway between us. I will walk forward to close that gap.", + "The lamppost pole is noticeably thicker and closer, still a little left of my heading across the lawn. Another step forward should bring me right up beside its base.", + "The lamppost stands right beside me, its pole filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001812_y-000049_z000098_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001812_y-000049_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45c94e866c92c077ccb1d579ef4c6d1ece8fefad --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001812_y-000049_z000098_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the green bell pepper at the right edge of the left fence, then set it down near the yard lamppost.", + "Type": 5, + "Start_Pose": [ + 1812.265, + -49.019, + 98.15, + 0, + 22.944, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2330.884, + -124.595, + 63.175, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1812.265, + -49.019, + 98.15, + 0, + 22.944, + 0 + ], + [ + 1928.167, + 0.045, + 98.15, + 0.0, + 22.944, + -0.0 + ], + [ + 1928.167, + 0.045, + 98.15, + 0.0, + -2.056, + 0.0 + ], + [ + 2053.945, + -4.471, + 118.564, + 0.0, + -2.056, + 0.0 + ], + [ + 2053.945, + -4.471, + 118.564, + 0.0, + -27.056, + 0.0 + ], + [ + 2166.03, + -61.719, + 137.38, + 0.0, + -27.056, + 0.0 + ], + [ + 2166.03, + -61.719, + 137.38, + 0.0, + -27.056, + 0.0 + ], + [ + 2166.03, + -61.719, + 137.38, + 0.0, + -2.056, + 0.0 + ], + [ + 2166.03, + -61.719, + 137.38, + 0.0, + 22.944, + -0.0 + ], + [ + 2281.932, + -12.655, + 113.525, + 0.0, + 22.944, + -0.0 + ], + [ + 2397.834, + 36.408, + 118.375, + 0.0, + 22.944, + -0.0 + ], + [ + 2397.834, + 36.408, + 118.375, + 0.0, + 47.944, + -0.0 + ], + [ + 2482.142, + 129.857, + 138.619, + 0.0, + 47.944, + -0.0 + ], + [ + 2433.912, + 76.398, + 120.92, + 0.0, + 47.944, + -0.0 + ], + [ + 2433.912, + 76.398, + 120.92, + 0.0, + 47.944, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2330.884, + -124.595, + 63.175, + 0.0, + 0.0, + 0.0 + ], + [ + 2330.884, + -124.595, + 63.175, + 0.0, + 0.0, + 0.0 + ], + [ + 2330.884, + -124.595, + 63.175, + 0.0, + 0.0, + 0.0 + ], + [ + 2330.884, + -124.595, + 63.175, + 0.0, + 0.0, + 0.0 + ], + [ + 2330.884, + -124.595, + 63.175, + 0.0, + 0.0, + 0.0 + ], + [ + 2330.884, + -124.595, + 63.175, + 0.0, + 0.0, + 0.0 + ], + [ + 2175.2, + -42.424, + 88.993, + -28.202, + 23.088, + 1.862 + ], + [ + 2166.214, + -39.399, + 89.265, + -28.189, + 48.101, + 1.872 + ], + [ + 2157.391, + -40.918, + 88.597, + -28.215, + 73.071, + 1.849 + ], + [ + 2273.339, + 6.897, + 83.008, + -28.202, + 73.085, + 1.858 + ], + [ + 2389.101, + 55.899, + 87.259, + -28.208, + 73.086, + 1.852 + ], + [ + 2380.838, + 50.94, + 87.914, + -28.2, + 98.089, + 1.865 + ], + [ + 2465.947, + 143.791, + 93.06, + -28.194, + 98.092, + 1.865 + ], + [ + 2480.802, + 128.372, + 110.92, + 0.0, + 47.944, + -0.0 + ], + [ + 2480.802, + 128.372, + 110.92, + 0.0, + 47.944, + -0.0 + ] + ], + "PD_Dist_2D": [ + 524.1, + 421.6, + 421.6, + 301.9, + 301.9, + 176.4, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits far ahead on the left, beside the white picket fence near the walkway. It is still well out of reach from here, so I will step forward along the paved path to close the gap before adjusting my heading.", + "After advancing, the pepper has slipped toward the left edge of my view while my heading points at the porch and mailbox. I will turn left to bring the pepper and the left fence line back in front of me for a straighter approach.", + "The pepper is now roughly centered ahead of me at the right edge of the left fence section, sitting on the grass strip by the walkway. With a clear paved lane between us, I will walk forward to shorten the remaining distance.", + "The pepper is much larger now but has drifted left of my facing direction as I closed in. I will turn left again to square up with it so it sits directly in front of me for a grasp.", + "The pepper now sits low and near the bottom of my view, just in front of the fence corner, which means I am close but not yet within arm's reach. One more step forward should place it directly at my feet for picking.", + "The green bell pepper fills the lower part of my view right at the fence edge, so it should be within reach. I will attempt to pick it up now before turning toward the yard lamppost.", + "The pepper is now in my hands rather than resting on the grass, so the grasp succeeded. The lamppost stands off to my right along the walkway, so I will turn right to begin heading that way.", + "Facing the porch again with the pepper carried, the tall yard lamppost is still off to my right side rather than ahead. I will turn right once more to bring the lamppost into the center of my path.", + "The green bell pepper is secure in my hands, so the remaining job is transport to the lamppost. That tall black lamppost stands ahead of me beside the front walk, still a fair distance away. I will walk forward along the path to close that gap.", + "The lamppost pole now rises much larger just right of my heading, confirming the previous step brought me closer while the pepper stays in my hands. I am still short of its base, with open pavement and lawn between us. I will step forward again to reach the drop area.", + "I am now beside the porch planting bed and the lamppost pole sits off to my right rather than in front of me. Before placing the pepper I want its base squarely ahead so the release lands close to it. I will turn right to bring the pole into the center of my view.", + "The lamppost pole is now centered directly ahead, so my heading is right for the placement. I am still a short step away from standing at its base on the grass. I will walk forward to reach a close release position beside the post.", + "I am standing right at the lamppost with the pole filling the center of my view and the pepper still held. This is as near the post as the ground allows, which satisfies the requested placement spot. I will release the green bell pepper here so it should settle beside the lamppost.", + "The green bell pepper now rests on the ground right at the foot of the yard lamppost, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001846_y000083_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001846_y000083_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9dbd7ded3ae73cfd8641944307c35fc23d62716 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001846_y000083_z000098_t2_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go to the main door of the white house on the left.", + "Type": 2, + "Start_Pose": [ + 1845.556, + 82.545, + 98.114, + 0.0, + 144.17, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1845.556, + 82.545, + 98.114, + 0.0, + 144.17, + -0.0 + ], + [ + 1743.515, + 156.221, + 98.114, + 0.0, + 144.17, + -0.0 + ], + [ + 1641.474, + 229.896, + 98.114, + 0.0, + 144.17, + -0.0 + ], + [ + 1539.433, + 303.572, + 98.114, + 0.0, + 144.17, + -0.0 + ], + [ + 1539.433, + 303.572, + 98.114, + 0.0, + 119.17, + -0.0 + ], + [ + 1478.089, + 413.469, + 108.63, + 0.0, + 119.17, + -0.0 + ], + [ + 1416.745, + 523.366, + 121.877, + 0.0, + 119.17, + -0.0 + ], + [ + 1355.401, + 633.264, + 113.949, + 0.0, + 119.17, + -0.0 + ], + [ + 1355.401, + 633.264, + 113.949, + 0.0, + 94.17, + -0.0 + ], + [ + 1346.249, + 758.789, + 114.231, + 0.0, + 94.17, + -0.0 + ], + [ + 1337.097, + 884.315, + 122.523, + 0.0, + 94.17, + -0.0 + ], + [ + 1327.945, + 1009.841, + 130.816, + 0.0, + 94.17, + -0.0 + ], + [ + 1318.793, + 1135.367, + 139.109, + 0.0, + 94.17, + -0.0 + ], + [ + 1309.641, + 1260.893, + 147.499, + 0.0, + 94.17, + -0.0 + ], + [ + 1300.489, + 1386.419, + 165.069, + 0.0, + 94.17, + -0.0 + ], + [ + 1286.155, + 1454.774, + 165.15, + 0.0, + 94.17, + -0.0 + ], + [ + 1286.155, + 1454.774, + 165.15, + 0.0, + 69.17, + -0.0 + ], + [ + 1286.155, + 1454.774, + 165.15, + 0.0, + 69.17, + -0.0 + ] + ], + "Rationale": [ + "Along the left side of the street I see a row of pale houses, and the nearest one, the two story white house with the covered porch, dark shutters and a flag by its posts, is the one I want. Its porch is still well ahead of me and partly screened by trunks and hedges, so I will walk forward along the road to close the gap.", + "The white house with the porch and flag is growing larger on my left, but I am still level with its far hedge rather than its walkway. Another step forward should bring the front path and porch steps into a better position to turn toward.", + "The porch of the white house is now clearly on my left, with its front hedge and a mailbox marking the property edge just ahead. I will keep walking forward so that I draw level with the paved walk that leads to its door.", + "I have drawn level with the mailbox and the concrete walk that cuts through the lawn of the white house with the porch. Its front door lies off to my left, so I will turn left to put that path and entrance ahead of me.", + "The turn has brought the white house squarely into view, with its porch, flag and the pale front door set behind the railing. The walkway runs from my position toward that door, so I will step forward along it.", + "The front door of this white house is now clearly visible at the end of the walk, left of the porch swing and flag. I am still out on the lawn side of the hedge, so I keep walking forward to close the remaining distance.", + "The porch and its white front door fill more of my view, though the hedge on my right still crowds the path. Another step forward should carry me nearer to the foot of the walk leading to that door.", + "From here the door of the white house sits off to my left while the hedge dominates the right of my view, so my heading is skewed away from the entrance. I will turn left to bring the walkway and the front door into the center ahead of me.", + "The turn has squared me up: the concrete walk now runs straight from my feet to the porch steps, with hedges standing clear on either side rather than crowding my path. The pale front door sits centered at the end of it, so I walk forward along the walk.", + "The hedges have fallen away behind me and the lawn opens out, leaving the porch railing, the flag and the door in plain view. Several paving slabs still separate me from the step, so I keep advancing.", + "The porch decking and the potted plant beside the step are close enough to make out in detail now, and the white door with its narrow sidelights holds the left half of my view. Distance is all that remains, so I take another step along the walk.", + "The porch ceiling and its supporting post now overhang my view, and the door's panels and brass hardware are legible from here. A short stretch of walk and the low step still lie between me and it, so I continue forward.", + "I am at the foot of the porch, with the deck boards spread ahead and the railing to either side of the entry. The white door and its two sidelights stand directly in front of me, so I step forward onto the decking to reach it.", + "The door now fills most of my view, its handle set and knocker clearly visible against the white panels. I am still a stride short of standing at it, so I move forward once more across the boards.", + "I am practically at the entry: the handle and its thumb latch are at arm's reach and the sidelight beside it shows the hallway within. One short step should place me squarely at the door rather than just short of it.", + "Standing this close, my heading has drifted onto the porch column and the sidelight glass, with the door itself pushed to the left edge of my view. I will turn left so the door face and its handle sit in front of me.", + "The white door's brass lock and handle fill my view at arm's length. I am at the main door, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002012_y-000369_z000110_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002012_y-000369_z000110_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a3eba6dead3221051bb1c674dc683d024ffe3ef6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002012_y-000369_z000110_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk towards the large tree in the middle of the yard.", + "Type": 0, + "Start_Pose": [ + 2012.001, + -368.921, + 109.719, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2012.001, + -368.921, + 109.719, + 0.0, + 0.0, + -0.0 + ], + [ + 2012.001, + -368.921, + 109.719, + 0.0, + 25.0, + -0.0 + ], + [ + 2012.001, + -368.921, + 109.719, + 0.0, + 50.0, + -0.0 + ], + [ + 2092.902, + -272.507, + 119.736, + 0.0, + 50.0, + -0.0 + ], + [ + 2173.802, + -176.094, + 117.226, + 0.0, + 50.0, + -0.0 + ], + [ + 2254.703, + -79.68, + 113.149, + 0.0, + 50.0, + -0.0 + ], + [ + 2335.603, + 16.733, + 113.406, + 0.0, + 50.0, + -0.0 + ], + [ + 2335.603, + 16.733, + 113.406, + 0.0, + 25.0, + -0.0 + ], + [ + 2335.603, + 16.733, + 113.406, + 0.0, + 0.0, + -0.0 + ], + [ + 2335.603, + 16.733, + 113.406, + 0.0, + -25.0, + 0.0 + ], + [ + 2449.67, + -36.457, + 121.929, + 0.0, + -25.0, + 0.0 + ], + [ + 2449.67, + -36.457, + 121.929, + 0.0, + -50.0, + 0.0 + ], + [ + 2449.67, + -36.457, + 121.929, + 0.0, + -75.0, + 0.0 + ], + [ + 2482.245, + -158.027, + 123.056, + 0.0, + -75.0, + 0.0 + ], + [ + 2482.245, + -158.027, + 123.056, + 0.0, + -75.0, + 0.0 + ] + ], + "Rationale": [ + "The large tree rises in the middle of the yard ahead of me, but a continuous white picket fence runs across my view between the sidewalk and that lawn. I will turn right to scan along the fence line for a paved opening that lets me enter the yard instead of pressing into the pickets.", + "From this heading I can now see the walkway and driveway paving extending to the right past the end of the fence. I will turn right once more to bring that open paved route into the center of my view before starting to move.", + "My heading is now aligned with the wide paved path that runs alongside the fenced lawn toward the house frontage. I will move forward along this clear surface to close distance on the yard where the large tree stands.", + "The porch and its planting bed are noticeably larger and nearer on my left, confirming that the previous step carried me along the walkway as intended. I will keep moving forward on this paving to reach the section of yard fronting the porch.", + "The dark front door and lamp post are now close on my left, so I am nearly abreast of the house frontage where the tree grows out of the lawn. Another forward step on this open paving should place me level with the yard before I turn toward the tree.", + "The lamp post and flower bed edge fill the left of my view and the walkway ahead remains unobstructed. I will take one more forward step to finish arriving at the frontage before reorienting toward the yard and its large tree.", + "I have reached the frontage, and the lawn with its planting bed and porch now lies off to my left while the side fence sits on my right. I will turn left to swing my heading off the walkway and back toward the open yard where the large tree stands.", + "The porch and front door are now nearly centered ahead, which means my heading has rotated onto the house rather than onto the tree side of the yard. I will turn left again to continue sweeping toward the open lawn where the large trunk should come into view.", + "Straight ahead I only see the porch steps and front door, with the wide lawn and the big tree canopy off to my left side. I will turn left again to keep swinging my heading away from the house facade and toward the open yard where the large trunk should come into view.", + "The open grass yard now spreads ahead of me with the porch and flower beds to my right, and the edge of the big tree's foliage shows at the left of my view. Stepping forward should carry me farther into the yard and closer to the trunk before I refine my heading.", + "From here the lawn fills the lower view but the target tree is still off to my left rather than in front of me. I will turn left to bring its trunk into the center of my view so I can walk straight at it.", + "The thick trunk of the large yard tree is now visible, but it sits along the left edge of my view instead of straight ahead. One more left turn should place it near the center of my heading for a direct approach.", + "The large tree trunk now stands close to the center of my view with clear grass between me and its base. I will step forward to close the remaining gap and stand beside the tree in the middle of the yard.", + "The large yard tree's trunk now fills the near foreground directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002083_y-000369_z000119_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002083_y-000369_z000119_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8ac62c9c3c94d17e57c024dad42fb9fbc38f2ba4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002083_y-000369_z000119_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the front porch of the house.", + "Type": 0, + "Start_Pose": [ + 2082.575, + -368.921, + 118.787, + 0.0, + 0.0, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2082.575, + -368.921, + 118.787, + 0.0, + 0.0, + 0.0 + ], + [ + 2082.575, + -368.921, + 118.787, + 0.0, + 25.0, + -0.0 + ], + [ + 2082.575, + -368.921, + 118.787, + 0.0, + 50.0, + -0.0 + ], + [ + 2163.476, + -272.507, + 118.249, + 0.0, + 50.0, + -0.0 + ], + [ + 2244.376, + -176.094, + 113.059, + 0.0, + 50.0, + -0.0 + ], + [ + 2325.277, + -79.68, + 113.059, + 0.0, + 50.0, + -0.0 + ], + [ + 2325.277, + -79.68, + 113.059, + 0.0, + 25.0, + -0.0 + ], + [ + 2430.638, + -20.261, + 120.689, + 0.0, + 25.0, + -0.0 + ], + [ + 2544.705, + 32.929, + 128.735, + 0.0, + 25.0, + -0.0 + ], + [ + 2544.705, + 32.929, + 128.735, + 0.0, + 0.0, + -0.0 + ], + [ + 2670.564, + 32.929, + 137.612, + 0.0, + 0.0, + -0.0 + ], + [ + 2796.423, + 32.929, + 146.49, + 0.0, + 0.0, + -0.0 + ], + [ + 2922.282, + 32.929, + 165.071, + 0.0, + 0.0, + -0.0 + ], + [ + 2922.282, + 32.929, + 165.071, + 0.0, + 0.0, + -0.0 + ] + ], + "Rationale": [ + "From the public sidewalk I can see the covered front porch and its door straight ahead, but a continuous white picket fence stands directly between me and the yard. I will turn right to scan along the fence line for an opening or walkway that can let me approach the porch.", + "Turning has brought a paved walk and a street lamp into the right portion of my view, suggesting the fence gives way to an entry path in that direction. I will turn right again to bring that paved route to the center of my heading before moving.", + "Now the wide concrete walk runs ahead of me toward the gap where the picket fence ends, with the porch off to my left. I will move forward along this clear paving to close distance toward that entry point.", + "The paved route is still open in front of me and the porch columns and railing on my left are noticeably larger, so I am gaining ground on the house. I will continue forward to reach the point where the walk turns toward the porch.", + "The dark front door and the rocking chair under the porch roof are now clearly visible to my left, and the fence no longer blocks the way between me and the porch deck. I will step forward once more to draw level with the walkway that feeds the porch steps.", + "My heading currently runs past the house along the side yard, while the porch and its front door sit off to my left. I will turn left to place the porch entrance near the center of my view so I can walk straight at it.", + "The turn has lined the covered porch and the dark front door up ahead of me, with the walkway leading straight in that direction. I will move forward along the paving to close the remaining distance to the porch.", + "The porch deck boards, the panelled front door and its wall lantern are now close and filling much of my view, so I am nearly at the entrance. I will advance again to bring myself right up to the porch itself.", + "The covered porch fills my view, but the dark front door sits well to the left while the flower bed and railing crowd the right side. I will turn left to bring the door and the walkway leading to it into the center of my heading before closing the last distance.", + "The front door is now centered straight ahead with the paved walkway running directly to the porch deck. I will move forward along this clear path to close the remaining gap to the porch.", + "I am right at the edge of the wooden porch decking, with the door framed dead ahead between the posts. Another step forward should carry me onto the porch itself.", + "I am standing on the porch boards now with the door, its sidelight, and the two wall lanterns clearly in front of me, though still a couple of steps away. I will move forward once more to settle in front of the entrance.", + "I stand on the porch decking directly before the front door and its sidelight. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002137_y-002123_z000148_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002137_y-002123_z000148_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf428cd222ee42f493f2dae7efe889e026844d69 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002137_y-002123_z000148_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the base of the prominent tree.", + "Type": 0, + "Start_Pose": [ + 2137.485, + -2123.405, + 148.15, + -0.098, + -118.584, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2137.485, + -2123.405, + 148.15, + -0.098, + -118.584, + -0.0 + ], + [ + 2077.268, + -2233.924, + 148.15, + -0.098, + -118.584, + -0.0 + ], + [ + 2017.052, + -2344.442, + 148.15, + -0.098, + -118.584, + -0.0 + ], + [ + 1956.835, + -2454.961, + 148.15, + -0.098, + -118.584, + -0.0 + ], + [ + 1896.618, + -2565.48, + 148.15, + -0.098, + -118.584, + -0.0 + ], + [ + 1896.618, + -2565.48, + 148.15, + -0.098, + -93.584, + -0.0 + ], + [ + 1888.751, + -2691.093, + 148.15, + -0.098, + -93.584, + -0.0 + ], + [ + 1880.883, + -2816.705, + 148.15, + -0.098, + -93.584, + -0.0 + ], + [ + 1880.883, + -2816.705, + 148.15, + -0.098, + -118.584, + 0.0 + ], + [ + 1820.666, + -2927.224, + 148.15, + -0.098, + -118.584, + 0.0 + ], + [ + 1820.666, + -2927.224, + 148.15, + -0.098, + -118.584, + 0.0 + ] + ], + "Rationale": [ + "The prominent tree stands ahead of me near the hedge corner, its trunk slightly right of center with the base still far across the lawn. The grass in front is open, so I will move forward to begin closing that distance.", + "The trunk now appears thicker and taller in my view, confirming that straight forward motion is shrinking the gap. The lawn ahead remains clear, so I will continue advancing on this heading.", + "The base of the tree is still several strides away, sitting just in front of the hedge line ahead of me. My heading keeps the trunk near the center of view, so another forward step should bring me closer.", + "The trunk is noticeably wider and its root flare on the grass is clearly visible, but I am not yet at the base. I will take another forward step to keep closing in.", + "The trunk has drifted a little to the right of my forward path as I approach, so continuing straight would carry me past it toward the hedge on the left. I will turn right to bring the base back onto my heading before advancing again.", + "After the turn the trunk and its base sit closer to the middle of my view with open grass in front. I will move forward along this corrected heading to reduce the remaining distance to the base.", + "The trunk now fills a large part of my view and the mulched ground at its base is distinct, yet I still have room before reaching it. I will step forward once more to arrive near the base.", + "At this close range the trunk has shifted to the left edge of my view, so I am facing the hedge rather than the tree base. I will turn left to place the trunk back in the center before making a final approach.", + "The trunk now sits centered in my view with its base and the exposed soil ring clearly visible just ahead, so my heading is aligned with the tree. I will step forward once more to close the small remaining gap and stand right at the base.", + "The trunk fills the center of my view at arm's length, its base directly at my feet. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002188_y000635_z000113_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002188_y000635_z000113_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe025edbad79a2d1b735a0001ac31cef5cb3e762 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002188_y000635_z000113_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the large tree on the right.", + "Type": 2, + "Start_Pose": [ + 2187.961, + 635.133, + 113.246, + -0.248, + -76.27, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2187.961, + 635.133, + 113.246, + -0.248, + -76.27, + 0.0 + ], + [ + 2217.833, + 512.872, + 113.205, + -0.248, + -76.27, + 0.0 + ], + [ + 2247.705, + 390.61, + 113.711, + -0.248, + -76.27, + 0.0 + ], + [ + 2277.577, + 268.349, + 113.97, + -0.248, + -76.27, + 0.0 + ], + [ + 2277.577, + 268.349, + 113.97, + -0.248, + -51.27, + 0.0 + ], + [ + 2356.32, + 170.167, + 138.548, + -0.248, + -51.27, + 0.0 + ], + [ + 2435.063, + 71.985, + 121.001, + -0.248, + -51.27, + 0.0 + ], + [ + 2435.063, + 71.985, + 121.001, + -0.248, + -76.27, + 0.0 + ], + [ + 2464.935, + -50.277, + 145.439, + -0.248, + -76.27, + 0.0 + ], + [ + 2494.807, + -172.538, + 123.869, + -0.248, + -76.27, + 0.0 + ], + [ + 2494.807, + -172.538, + 123.869, + -0.248, + -76.27, + 0.0 + ] + ], + "Rationale": [ + "The tree I want is the tall one rising from the fenced front lawn beside the porch house on my right, not the ones over on the left side of the street. The concrete walkway ahead runs straight toward it with nothing in the way. I will walk forward to close the distance.", + "The thick trunk beside the porch house is noticeably larger in my view, so the walkway is taking me the right way. The path stays clear and level ahead. I will keep walking forward toward that tree.", + "The trunk now dominates the upper right of my view, but I am still several paces short of the fence line where it stands on the lawn. The walkway continues open in front of me. I take another step forward.", + "The white picket fence runs between me and the grass where the tree stands, and the sidewalk ahead simply continues past it to the left. The broad paved apron toward the porch on my right opens onto that lawn instead. I will turn right to take that route.", + "I am now facing along the wide paved area that runs beside the porch, with the tree trunk standing just off to my left front behind the fence corner. Walking this way should bring me alongside the lawn it grows on. I step forward.", + "The trunk is close on my left, with open grass now between me and it rather than fence. A little more forward travel should put me level with it. I keep walking.", + "My current heading has pushed the big trunk to the far left edge of my view while I am aimed along the porch. I need it back in front of me before covering the last stretch of grass. I will turn left to face the tree.", + "The heavy trunk now stands ahead and slightly left of center, with clear lawn between us. Only a short stretch of grass remains before I am beside it. I step forward to close that gap.", + "The trunk fills the left of my view now, but a couple of paces of grass still separate me from its base. Nothing blocks the lawn between us. One more step forward should bring me right up beside it.", + "The big trunk stands directly at my side, filling my view at arm's reach. I have arrived at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002188_y000635_z000113_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002188_y000635_z000113_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73c44214bb4de802c243256b7d56405defd38059 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002188_y000635_z000113_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "First go to the large tree on the right then go to the mailbox on the left.", + "Type": 3, + "Start_Pose": [ + 2187.961, + 635.133, + 113.246, + -0.248, + -76.27, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2187.961, + 635.133, + 113.246, + -0.248, + -76.27, + 0.0 + ], + [ + 2217.833, + 512.872, + 113.205, + -0.248, + -76.27, + 0.0 + ], + [ + 2217.833, + 512.872, + 113.205, + -0.248, + -51.27, + 0.0 + ], + [ + 2296.576, + 414.69, + 113.205, + -0.248, + -51.27, + 0.0 + ], + [ + 2351.518, + 318.394, + 113.624, + -0.248, + -51.27, + 0.0 + ], + [ + 2351.518, + 226.798, + 112.947, + -0.248, + -51.27, + 0.0 + ], + [ + 2417.09, + 127.753, + 119.733, + -0.248, + -51.27, + 0.0 + ], + [ + 2495.833, + 29.571, + 125.288, + -0.248, + -51.27, + 0.0 + ], + [ + 2495.833, + 29.571, + 125.288, + -0.248, + -76.27, + 0.0 + ], + [ + 2525.705, + -92.691, + 126.383, + -0.248, + -76.27, + 0.0 + ], + [ + 2525.705, + -92.691, + 126.383, + -0.248, + -101.27, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + -101.27, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + -101.27, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + -126.27, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + -151.27, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + -176.27, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + 158.73, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + 133.73, + 0.0 + ], + [ + 2501.108, + -216.121, + 124.278, + -0.248, + 108.73, + 0.0 + ], + [ + 2460.694, + -96.929, + 136.834, + -0.248, + 108.73, + 0.0 + ], + [ + 2460.694, + -96.929, + 136.834, + -0.248, + 133.73, + 0.0 + ], + [ + 2396.123, + -4.894, + 118.442, + -0.248, + 133.73, + 0.0 + ], + [ + 2396.123, + -4.894, + 118.442, + -0.248, + 158.73, + 0.0 + ], + [ + 2278.838, + 40.763, + 113.446, + -0.248, + 158.73, + 0.0 + ], + [ + 2161.553, + 86.419, + 119.578, + -0.248, + 158.73, + 0.0 + ], + [ + 2161.553, + 86.419, + 119.578, + -0.248, + 133.73, + 0.0 + ], + [ + 2093.982, + 138.783, + 136.121, + -0.248, + 133.73, + 0.0 + ], + [ + 2093.982, + 138.783, + 136.121, + -0.248, + 133.73, + 0.0 + ] + ], + "Rationale": [ + "The concrete walk runs straight ahead between the lawn and the white picket fence, and tall trees rise over the house yard to my right. Before choosing a heading toward the large tree, I will walk forward to close some of the open distance along this path.", + "Continuing straight would carry me down the walk past the property, while the large trees I want stand off to my right along the fenced yard. I will turn right so that side of the lot lies ahead of me.", + "With the porch and its picket fence now facing me, the paved strip ahead runs alongside the yard where the heavy trunk rises. The way is clear, so I will step forward to close on that tree.", + "The fence line and porch have grown larger, so my heading is carrying me deeper into this yard. The thick trunk stands off to my left front and is still some distance away, so I will keep walking forward.", + "The picket fence has passed close by and the pavement beside the porch remains open. The broad tree trunk on the left of my view is nearer but not yet beside me, so another step forward is worthwhile.", + "The trunk at the left edge is now thick and detailed, showing I am nearly level with it, and the lawn and paving ahead are clear. I will advance once more to draw abreast of that tree.", + "The flower bed and porch railings slide past on my right while the big trunk sits just off my left shoulder. One more step forward should place me squarely alongside the tree before I face it.", + "My heading points along the lawn past the porch, but the large tree now stands at the left edge of my view rather than in front of me. I will turn left to bring its trunk into my path and approach it directly.", + "The thick trunk of the large tree now fills the left side of my view, close but still slightly ahead of me. I will step forward along the lawn to draw level with its base before I turn toward it.", + "I am now beside the big trunk, which sits off to my left while my body still points down the lawn toward the far fence. Turning left should swing my heading onto the tree so I can close the last short gap squarely.", + "The heavy trunk now stands centered in front of me with clear grass between us. A short step forward should bring me right up against the large tree.", + "The huge trunk fills my view from close range, its bark detail sharp right in front of me. I have reached the large tree on the right side of the yard. I mark reaching it, then set off toward the mailbox on the other side of the street.", + "With the trunk right against me, the mailbox lies back across the yard behind my current heading, well off to my left. I begin swinging left to bring that side of the street into view.", + "The trunk has slid to my right edge and the neighboring houses and hedge are opening up ahead, but I still cannot see the mailbox. I keep rotating left to bring the roadside where it stands into view.", + "The street and its concrete barriers are now visible to my left, so I am nearly facing the roadside where a mailbox should stand. Another left rotation should carry my heading across the road frontage.", + "I am now looking straight across the fence at the street, but no mailbox is centered in my view yet. I continue turning left to sweep the near curb strip where one would be posted.", + "The big trunk I came to is behind me now, and I am swinging my heading around toward the street frontage where the mailboxes stand on their wooden posts. The roadway and curb still sit across the far side of my view, so one more turn to the left should bring that side properly in front of me.", + "A picket fence corner rises directly in front of me, so I cannot press straight ahead toward the curb from this heading. Turning left again should put the open paved walkway that leads out to the sidewalk squarely ahead of me.", + "The paved walk now runs clear ahead of me toward the street, with a mailbox on its wooden post standing by the curb off to my right. Nothing blocks the path, so I will step forward along it to close the distance to that curb line.", + "After advancing, the mailbox on its wooden post sits off to my right at the edge of the road, while my heading still points across the neighboring yard. I will turn right so that post comes into the middle of my view and I can walk straight at it.", + "The mailbox on its post is now roughly ahead of me with the concrete barriers beside it at the curb. The sidewalk between us is clear, so I will step forward to shorten the gap.", + "The mailbox stands just beyond a strip of tall grass and the concrete barriers, which I would rather not walk into head on. Turning right should square me onto the sidewalk that runs along the curb, giving a clean line up beside the post.", + "I am now lined up along the sidewalk beside the road, with the mailbox on its wooden post ahead and slightly to my left by the barriers. Walking forward along this clear pavement should carry me up level with it.", + "The mailbox on its cross-braced post is clearly larger now, close on my left at the curb, but I am still a stride or two short of standing beside it. I will keep walking forward along the pavement to draw level.", + "The mailbox on its wooden post has slid to the very edge of my view on the left, so close that it is nearly out of sight. I will turn left to bring it back to the center of my view before making the final approach.", + "The mailbox now sits squarely ahead of me at the curb, just a short step beyond my reach. I will walk forward to close that last bit of distance and stand right beside it.", + "The mailbox fills the space directly in front of me at arm's length on the curb. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002294_y000566_z000113_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002294_y000566_z000113_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..417778625d306073e9c8ff89b7f00f710b512b49 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002294_y000566_z000113_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the rightmost concrete roadblock.", + "Type": 2, + "Start_Pose": [ + 2294.142, + 565.954, + 113.218, + 0.0, + -149.061, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2294.142, + 565.954, + 113.218, + 0.0, + -149.061, + 0.0 + ], + [ + 2294.142, + 565.954, + 113.218, + 0.0, + -124.061, + 0.0 + ], + [ + 2223.652, + 461.687, + 113.482, + 0.0, + -124.061, + 0.0 + ], + [ + 2153.161, + 357.42, + 119.056, + 0.0, + -124.061, + 0.0 + ], + [ + 2153.161, + 357.42, + 119.056, + 0.0, + -99.061, + 0.0 + ], + [ + 2133.34, + 233.132, + 121.018, + 0.0, + -99.061, + 0.0 + ], + [ + 2133.105, + 122.503, + 122.352, + 0.0, + -99.061, + 0.0 + ], + [ + 2113.284, + -1.786, + 124.318, + 0.0, + -99.061, + 0.0 + ], + [ + 2093.463, + -126.074, + 119.762, + 0.0, + -99.061, + 0.0 + ], + [ + 2093.463, + -126.074, + 119.762, + 0.0, + -124.061, + 0.0 + ], + [ + 2022.972, + -230.341, + 110.137, + 0.0, + -124.061, + 0.0 + ], + [ + 2022.972, + -230.341, + 110.137, + 0.0, + -124.061, + 0.0 + ] + ], + "Rationale": [ + "The concrete roadblocks stand in a line along the curb, and the one at the far right end of that line sits right beside the wooden mailbox post. Facing across the row like this, I cannot walk straight at it, so I turn right to swing that end of the row toward the center of my view.", + "The barrier line now runs away from me along the curb, with the mailbox post standing at its far end on my right. My heading is usable, so I walk forward along the grass strip beside the sidewalk to close the distance toward that end of the row.", + "The nearer barriers have grown large on my left while the mailbox post marking the end of the row is still some distance ahead. I keep walking forward, since I am not yet level with the last barrier of the line.", + "The mailbox post is now directly in front of me and my heading is drifting toward the roadway rather than following the line of barriers. I turn right to square up with the sidewalk that runs parallel to the curb, which should let me continue cleanly to the end of the row.", + "Squared with the walkway, the pavement runs clear ahead and only the tail of the barrier line remains beside me on the left. I step forward to keep closing on the final barrier at the end of that run.", + "The two remaining barriers sit low along the curb to my left and are still slightly ahead of my shoulder. I continue walking forward on the open pavement to draw even with the last one.", + "The barriers have slid down to the left edge of my view as I come alongside the end of the run. Nothing blocks the walkway, so I take another step forward to reach the final barrier.", + "Only one barrier is still visible, sitting at the very edge of my left side where the run ends. I move forward once more to bring myself fully even with that last block before turning to face it.", + "The last barrier of the run has slid so far into my lower left corner that it is nearly out of sight, and holding this heading would carry me past it along the walkway. I turn left to swing the curb and that block back toward the middle of my view.", + "The concrete block at the end of the row now sits low and centered ahead of me against the curb, with just a short strip of grass and pavement between us. I step forward to close that remaining gap and stand right at it.", + "The concrete barrier at the end of the row stands immediately beside me at the curb, within arm's reach. I have arrived at it, so stopping here completes the task." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002354_y-000900_z000124_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002354_y-000900_z000124_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e38096c65213f09e67a7b0bfc0006fa1677835f3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002354_y-000900_z000124_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "First move to the corner where the white picket fence meets the wooden fence, then continue on to the patio table under the umbrella.", + "Type": 3, + "Start_Pose": [ + 2353.546, + -900.219, + 124.208, + -0.301, + -114.243, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2353.546, + -900.219, + 124.208, + -0.301, + -114.243, + 0.0 + ], + [ + 2301.868, + -1015.147, + 131.642, + -0.301, + -114.243, + 0.0 + ], + [ + 2250.19, + -1129.905, + 139.076, + -0.301, + -114.243, + 0.0 + ], + [ + 2250.19, + -1129.905, + 139.076, + -0.301, + -89.243, + 0.0 + ], + [ + 2251.853, + -1255.751, + 149.878, + -0.301, + -89.243, + 0.0 + ], + [ + 2253.516, + -1381.597, + 149.878, + -0.301, + -89.243, + 0.0 + ], + [ + 2253.516, + -1381.597, + 149.878, + -0.301, + -64.243, + 0.0 + ], + [ + 2308.208, + -1485.144, + 188.754, + -0.301, + -64.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + -64.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + -64.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + -89.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + -114.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + -139.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + -164.243, + 0.0 + ], + [ + 2354.042, + -1598.344, + 148.149, + -0.301, + 170.757, + 0.0 + ], + [ + 2229.448, + -1578.128, + 148.149, + -0.301, + 170.757, + 0.0 + ], + [ + 2105.225, + -1558.103, + 182.094, + -0.301, + 170.757, + 0.0 + ], + [ + 2105.225, + -1558.103, + 182.094, + -0.301, + 145.757, + 0.0 + ], + [ + 2001.184, + -1487.283, + 186.043, + -0.301, + 145.757, + 0.0 + ], + [ + 2001.184, + -1487.283, + 186.043, + -0.301, + 120.757, + 0.0 + ], + [ + 2001.184, + -1487.283, + 186.043, + -0.301, + 95.757, + 0.0 + ], + [ + 1994.488, + -1384.211, + 149.252, + -0.301, + 95.757, + 0.0 + ], + [ + 2010.819, + -1379.598, + 149.254, + -0.301, + 95.757, + 0.0 + ], + [ + 2010.819, + -1379.598, + 149.254, + -0.301, + 95.757, + 0.0 + ] + ], + "Rationale": [ + "From the patio I can see the tall wooden privacy fence running across the yard ahead and a white picket fence along the right side, so their junction lies out to my right front. I will walk forward across the paving to close that gap before angling toward the corner.", + "The wooden fence and the rock border in front of it have grown larger, and the white pickets are still off to my right, so I have not yet reached where the two fence lines meet. Another step forward should bring me near enough to swing toward that junction.", + "I am now close to the wooden fence, but my heading points at its middle panels while the white pickets sit off at the right margin. Turning right should place the meeting point of the two fences ahead of me so I can walk straight at it.", + "With the turn done, the white picket line and the wooden fence now both lie ahead, joining over toward my right. Walking forward should carry me across the grass border toward that junction.", + "The rock border and the fence boards are noticeably nearer, and the pickets continue to run away on my right toward where they abut the wooden panels. I will step forward again to draw level with that corner.", + "The wooden panels now fill most of my view straight ahead, while the white pickets and the post where they join sit toward the right. Turning right should line my body up with the picket run so I can walk along it to the corner.", + "Now the wooden fence runs off to my left and the white pickets angle away to my right, with the strip of grass between them open ahead. I will walk forward along that strip to reach the point where the two fences come together.", + "The wooden fence end and the lattice top are close on my left and the pickets are just below me on the right, so the junction of the two is only a short step away. One more forward step should put me right at that corner.", + "The tall lattice-topped wooden fence ends right in front of me at its corner post, and the white picket fence begins just below me on the right. I am standing exactly at that junction, so I have reached it. I mark arriving at this corner before heading for the patio table under the umbrella.", + "The corner is behind me now and the open lawn ahead leads away from the patio, so I need to swing my heading back along the wooden fence line. I will turn left to begin bringing the yard side with the umbrella into view.", + "My view is still filled by the blank boards and lattice of the wooden fence, with nothing of the patio in sight. I will keep rotating left to carry my heading further around toward the yard where the umbrella stands.", + "The fence still spans my whole view, though its top rail is starting to angle away, which tells me my heading is coming round. Another left turn should push the sweep further until the open patio side appears.", + "The fence now runs away from me in perspective and pale house siding with a strip of grass has opened at the left edge, so the yard is coming back into view. I will turn left once more to bring that open side ahead of me.", + "A grass lane beside the wooden fence now stretches ahead, with the outbuilding and the edge of the paving showing to the left. One more left turn should place that walkable strip and the patio beyond it squarely in front of me.", + "The umbrella and its table are now visible off to my left across the paving, and the grass strip beside the fence runs clear toward them. I will walk forward along this open lane to close the distance to the patio.", + "I have gained ground along the fence and the shaded table sits nearer on my left, but I am still out on the grass short of the paving. I will keep walking forward to draw level with the patio before turning toward it.", + "The garage wall now fills my right side and the open paved yard runs off to my left, so my heading is pointed past the patio rather than at it. I will turn left to swing my view across the paving where the umbrella should come into sight.", + "The umbrella canopy and its table with chairs are now in the left of my view across the open paving. The route ahead over the concrete is clear, so I will walk forward to close the gap toward that seating.", + "Advancing has carried me alongside the patio, leaving the umbrella edge and a chair off to my left while my gaze runs down the walkway ahead. I will turn left to bring the shaded table back toward the centre of my view.", + "The umbrella and its round table sit in the left half of my view, still angled away from straight ahead. Another left turn should square me onto the table so I can approach it directly.", + "The umbrella and its round table now sit centred in front of me with clear paving between us. I will step forward to close that remaining distance.", + "The tabletop fills the lower half of my view and the umbrella pole rises directly ahead, so only a short gap remains. I will take one more small step to stand right at the table's edge.", + "I stand at the edge of the round patio table with the umbrella pole rising directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002452_y-000794_z000121_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002452_y-000794_z000121_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..51c096344addc012145e1a093433d5d820cba122 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002452_y-000794_z000121_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First walk over to the large side window of the white house, then move on to the tall street lamp near the tree.", + "Type": 3, + "Start_Pose": [ + 2452.183, + -794.414, + 121.108, + 0.0, + -34.99, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2452.183, + -794.414, + 121.108, + 0.0, + -34.99, + 0.0 + ], + [ + 2555.293, + -866.586, + 127.787, + 0.0, + -34.99, + 0.0 + ], + [ + 2555.293, + -866.586, + 127.787, + 0.0, + -9.99, + 0.0 + ], + [ + 2679.244, + -888.419, + 135.817, + 0.0, + -9.99, + 0.0 + ], + [ + 2803.195, + -910.253, + 143.846, + 0.0, + -9.99, + 0.0 + ], + [ + 2854.865, + -929.34, + 147.194, + 0.0, + -9.99, + 0.0 + ], + [ + 2854.865, + -929.34, + 147.194, + 0.0, + -9.99, + 0.0 + ], + [ + 2854.865, + -929.34, + 147.194, + 0.0, + -34.99, + 0.0 + ], + [ + 2854.865, + -929.34, + 147.194, + 0.0, + -59.99, + 0.0 + ], + [ + 2854.865, + -929.34, + 147.194, + 0.0, + -84.99, + 0.0 + ], + [ + 2854.952, + -1054.572, + 147.199, + 0.0, + -84.99, + 0.0 + ], + [ + 2854.952, + -1179.804, + 147.199, + 0.0, + -84.99, + 0.0 + ], + [ + 2860.271, + -1305.096, + 147.983, + 0.0, + -84.99, + 0.0 + ], + [ + 2871.262, + -1430.475, + 147.983, + 0.0, + -84.99, + 0.0 + ], + [ + 2882.254, + -1555.853, + 147.983, + 0.0, + -84.99, + 0.0 + ], + [ + 2882.254, + -1555.853, + 147.983, + 0.0, + -84.99, + 0.0 + ] + ], + "Rationale": [ + "The white clapboard house stands ahead on my right, with its wide shuttered window looking out over the lawn. I will walk forward across the grass to close the gap toward that window.", + "I am now level with the lawn beside the house, but the broad shuttered window sits off to my right rather than in front of me. I will turn right so the window is centered and I can walk straight at it.", + "The wide shuttered window is now squarely in front of me on the pale siding. I will step forward over the grass to bring myself right up to it.", + "The window fills much of my view now and the interior behind the panes is clearly visible, so I am close but not yet at the wall. Another step forward should put me right beside the glass.", + "I am nearly against the siding, with the window sill and mullions filling my view at close range. A short step forward should settle me directly at the window.", + "The glass and sill of the big side window are right in front of me, with the room and its bookshelves plain through the panes. I have reached the large side window of the white house. I mark reaching it before setting off for the tall street lamp by the tree.", + "Standing at the window, my view is filled by glass and siding, so I need to swing away from the wall to find the lamp post out on the lawn. I will turn left to begin bringing the open yard back into view.", + "The wall still dominates my view, with only a sliver of window frame angling away and no sight of the yard beyond. I will keep turning left to bring the open grass and the lamp post near the tree into view.", + "Swinging away from the window wall has opened the side yard on my left, where a slim tree and a dark lamp head stand above the fence line. The siding still crowds the right half of my view, so I will turn left once more to put that lamp and tree ahead of me.", + "The lawn now stretches ahead with the slender tree standing near the middle of my view and only the corner of the siding at my right. That heading points at the tall lamp beside it, so I will walk forward to close the open grass.", + "The dark lamp head is now visible on its pole beside the tree trunk straight ahead, and the grass between us is unobstructed. I keep walking forward to shorten that distance.", + "The tree and the lamp pole beside it now rise near the center of my view, with the fenced yard and pool spread out beyond them. The lamp is still several strides off, so I continue forward.", + "The lamp head has climbed to the top of my view as its pole grows thicker, showing I am much nearer the tree. I step forward again to bring myself right up beside it.", + "The tree trunk now fills much of the near ground and the lamp pole stands just beside it, slightly to my left. One more step forward should place me at the foot of that lamp.", + "The tall lamp post rises directly beside me at arm's length, with the tree right at its base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002502_y-001325_z000148_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002502_y-001325_z000148_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7054b7ad601fbab1ed38d3b6bdfd0f285c142ef5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002502_y-001325_z000148_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the large tree on the left.", + "Type": 2, + "Start_Pose": [ + 2502.258, + -1324.705, + 148.151, + -0.2, + -37.978, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2502.258, + -1324.705, + 148.151, + -0.2, + -37.978, + 0.0 + ], + [ + 2502.258, + -1324.705, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2559.44, + -1436.824, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2616.621, + -1548.942, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2673.803, + -1661.061, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2730.984, + -1773.179, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2788.166, + -1885.298, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2845.347, + -1997.416, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2845.347, + -1997.416, + 148.151, + -0.2, + -62.978, + -0.0 + ] + ], + "Rationale": [ + "Among the trees around this yard, the large one sits off to my left, its thick pale trunk rising straight from the lawn near the fence, while the smaller crowns cluster to the right over the patio. It is too far to my left to walk toward directly. I will turn left so that broad trunk comes into the middle of my view.", + "The thick pale trunk of the big tree now stands near the center of my view with open lawn running toward it. Nothing blocks the grass between us, so I will walk straight ahead to close the distance.", + "The big tree's trunk has grown noticeably wider and its canopy now fills more of the sky above me, so my heading toward it is good. The lawn ahead stays open and level. I will keep walking forward.", + "The paved ring at the base of the big tree is now visible below its trunk, confirming I am aimed at its foot. Distance still remains between me and that base. Another step forward should bring me closer.", + "The trunk now dominates the middle of my view and its paved base is clearly ahead on the grass. The shrubs and pool stay well off to my right, so my line is clear. I will continue walking toward the tree.", + "I am close enough now that the bark texture of the big tree is sharp and its paved surround spreads just in front of my feet. I still stand slightly short of that base. One more step forward should put me right at the tree.", + "The trunk now rises like a wall through the left half of my view and its paving is directly underfoot ahead. A final short step should bring me flush against the tree I set out for.", + "The massive trunk of the large tree stands immediately beside me, filling the near view with its bark. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002547_y-000427_z000127_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002547_y-000427_z000127_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e001a77dd26f116093a2a0f9caba8e3ca73033 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002547_y-000427_z000127_t3_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Go to the front door first, then go to the lamppost in the yard.", + "Type": 3, + "Start_Pose": [ + 2546.553, + -426.661, + 127.221, + 0.0, + 73.445, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2546.553, + -426.661, + 127.221, + 0.0, + 73.445, + -0.0 + ], + [ + 2582.415, + -306.019, + 129.544, + 0.0, + 73.445, + -0.0 + ], + [ + 2618.276, + -185.378, + 131.867, + 0.0, + 73.445, + -0.0 + ], + [ + 2654.138, + -64.736, + 153.995, + 0.0, + 73.445, + -0.0 + ], + [ + 2654.138, + -64.736, + 153.995, + 0.0, + 48.445, + -0.0 + ], + [ + 2737.625, + 29.447, + 142.342, + 0.0, + 48.445, + -0.0 + ], + [ + 2737.625, + 29.447, + 142.342, + 0.0, + 23.445, + -0.0 + ], + [ + 2853.094, + 79.522, + 165.03, + 0.0, + 23.445, + -0.0 + ], + [ + 2968.562, + 129.598, + 165.03, + 0.0, + 23.445, + -0.0 + ], + [ + 2968.562, + 129.598, + 165.03, + 0.0, + -1.555, + 0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + -1.555, + 0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + -1.555, + 0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 23.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 48.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 73.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 98.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 123.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 148.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + 173.445, + -0.0 + ], + [ + 3094.375, + 126.182, + 165.03, + 0.0, + -161.555, + 0.0 + ], + [ + 2974.981, + 86.361, + 165.03, + 0.0, + -161.555, + 0.0 + ], + [ + 2855.588, + 46.54, + 165.03, + 0.0, + -161.555, + 0.0 + ], + [ + 2855.588, + 46.54, + 165.03, + 0.0, + 173.445, + -0.0 + ], + [ + 2855.588, + 46.54, + 165.03, + 0.0, + 148.445, + -0.0 + ], + [ + 2748.339, + 112.404, + 143.098, + 0.0, + 148.445, + -0.0 + ], + [ + 2641.089, + 178.268, + 142.583, + 0.0, + 148.445, + -0.0 + ], + [ + 2641.089, + 178.268, + 142.583, + 0.0, + 148.445, + -0.0 + ] + ], + "Rationale": [ + "The covered porch of the house runs along my left and its entrance lies further down that frontage, so the front door is my first destination. The paved walkway ahead is clear of obstructions, so I will step forward along it to close distance on the house.", + "The porch deck and its chairs are noticeably nearer now, confirming my heading is carrying me along the front of the house. The doorway I want still lies further ahead behind the columns, so I will keep walking forward on the clear paving.", + "I am now level with the flowering bed beside the porch steps, but the entrance door is still hidden behind the porch columns to my left. Another stride forward should bring me alongside the steps where the doorway comes into view.", + "Walking straight would carry me past the house frontage, since the porch and its entrance sit off to my left rather than ahead. I will turn left to swing my heading onto the porch so the front door comes into view.", + "The turn has opened up the porch, and the dark panelled front door with its lamp is now visible at the far left of the deck. The way onto the boards is clear, so I will walk forward to get onto the porch and nearer that door.", + "The front door sits well off to my left edge while my heading points down the length of the porch. I will turn left again to bring the door toward the middle of my view before advancing further.", + "The panelled front door with its brass handle and sidelight is now clearly ahead of me on open decking. Nothing blocks the boards between us, so I will walk forward to close the remaining distance to it.", + "The door has grown much larger and its handle set is plainly readable, yet I am still a couple of paces short of standing at it. I will step forward again across the clear decking to reach the threshold.", + "The dark panelled front door sits at the far left edge of my view while the chairs and windows fill the rest of the porch ahead of me. To walk straight onto it I need it centered, so I will turn left and swing my heading off the siding and onto the doorway.", + "The front door with its brass handle now stands squarely ahead of me across a short stretch of decking. Nothing blocks that stretch, so I will step forward to close the last of the gap to the door.", + "The brass handle and deadbolt of the front door are right at arm's length, the door panels filling the left of my view. I have reached the front door. I mark reaching it and turn my attention to the lamppost standing out in the yard.", + "I am pressed up against the door with only its panels and the siding beside it in view, so nothing of the yard is visible from this heading. I will turn right to begin swinging my gaze away from the door and back along the porch toward the open grass.", + "My view is still filled with clapboard siding, the wall lantern and a shutter, with only a chair edging in at the right. The yard lies further around, so I will keep turning right to bring the open side of the porch forward.", + "The chairs and the tall porch windows now run across my view, so I am still facing the house wall rather than the yard. Another right turn should carry my heading further along the deck toward the open railing side.", + "The deck now opens ahead past the chairs toward a patio table, and a sliver of railing with green beyond has appeared at the right. That is the direction of the yard, so I will turn right again to face it more fully.", + "The porch railing and the flag are now on my right with trees and hedges showing beyond them, but the wall and chairs still take up much of my view. I will turn right once more to put the open yard side squarely in front of me.", + "Having marked the front door, I now need the tall yard lamppost, which lies out beyond the porch railing rather than along this wall. My view still ends on siding and the seating area to my left, so I keep pivoting right to swing my heading toward the open yard and street.", + "The yard and the street beyond the railing are now opening across my view, and a dark lamp fixture shows among the trees toward my right. I will turn right once more to bring the front walk and that pole further toward the center of my heading.", + "The concrete walk leading off the porch toward the street is now visible ahead and slightly to my right, framed between the posts. Another right pivot should put that walkway squarely in front of me so I can step off the deck toward the yard.", + "The walkway now runs straight out from the porch directly ahead of me, with the yard and street beyond it clear of obstacles. I will walk forward to leave the deck and get out where the yard lamppost stands.", + "I am off the porch now with the walk running ahead between the lawns, and a tall black lamppost with its lantern head stands over the grass to my left. Another step forward should bring me level with it before I turn toward it.", + "Walking down the path has carried me alongside the lawn, and my view now points straight down the street with the lamppost no longer in front of me. I will turn left to swing my heading back over the grass where that pole stands.", + "The dark pole and its lantern have come back into view, but only at the upper left corner of my sight. One more left pivot should carry it toward the middle of my heading so I can walk straight at it.", + "The lamppost now rises near the middle of my view, planted in the grass just off the walkway with nothing between us. I will step forward across the lawn to close the remaining distance to its base.", + "The dark lamppost stands centered in my view on the grass strip beside the walkway, but its base is still a few paces ahead of me. My heading is already straight at it, so a further step should bring me right up to its post.", + "The lamppost's shaft fills the center of my view at arm's reach in the grassy yard. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002563_y-001378_z000148_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002563_y-001378_z000148_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc9a35a7ac0e6678dc5244e9c465b565ad77d0d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002563_y-001378_z000148_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the second nearest bush.", + "Type": 2, + "Start_Pose": [ + 2563.471, + -1378.274, + 148.151, + -0.2, + -40.858, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2563.471, + -1378.274, + 148.151, + -0.2, + -40.858, + 0.0 + ], + [ + 2658.662, + -1460.609, + 148.151, + -0.2, + -40.858, + -0.0 + ], + [ + 2753.852, + -1542.944, + 148.151, + -0.2, + -40.858, + -0.0 + ], + [ + 2753.852, + -1542.944, + 148.151, + -0.2, + -65.858, + 0.0 + ], + [ + 2803.494, + -1657.689, + 148.15, + -0.2, + -65.858, + 0.0 + ], + [ + 2852.037, + -1773.185, + 148.15, + -0.2, + -65.858, + 0.0 + ], + [ + 2852.037, + -1773.185, + 148.15, + -0.2, + -40.858, + 0.0 + ], + [ + 2947.228, + -1855.52, + 148.15, + -0.2, + -40.858, + 0.0 + ], + [ + 2947.228, + -1855.52, + 148.15, + -0.2, + -40.858, + 0.0 + ] + ], + "Rationale": [ + "From here the bushes sit in a line along the fence beyond the open lawn. The closest is the small shrub by the tree, and my target is the next one out, the fuller bush at the pool's near corner. I step forward to close that distance.", + "The bushes have grown larger ahead, and the fuller one beside the pool's near corner is still well out across the grass. The lawn in front of me stays open, so I walk forward again to keep shrinking the gap.", + "My current heading points me toward the paved patio on the right, while the bush I want stands left of that, on the near side of the pool. I turn left to bring it in front of me before covering more ground.", + "The turn has set the shrub line across my view, with the leafy bush at the pool's near end sitting ahead of me. The grass between us is clear, so I walk forward toward it.", + "The bush I am after now shows clearly past the tree, hugging the pool's near corner, though still a few paces off. Nothing stands in the way, so I advance again to draw alongside it.", + "I have come level with the tree, and the bush at the pool's near corner now sits to the right of where I am pointed. I turn right so that it lies straight ahead for the final step.", + "The leafy bush I chose now stands close in the near left of my view at the pool's edge, with only a short stretch of grass left. One more step forward should place me right beside it.", + "The leafy bush I chose fills the near left of my view, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002565_y-001374_z000148_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002565_y-001374_z000148_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02b59b59836fe816aa26d6c1c26a89e07bca569e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002565_y-001374_z000148_t3_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the lamppost in the yard first, then go to the outdoor wall light.", + "Type": 3, + "Start_Pose": [ + 2565.335, + -1373.705, + 148.151, + -0.2, + -37.978, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2565.335, + -1373.705, + 148.151, + -0.2, + -37.978, + 0.0 + ], + [ + 2664.542, + -1451.153, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2763.75, + -1528.601, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2763.75, + -1528.601, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2763.75, + -1528.601, + 148.151, + -0.2, + -12.978, + 0.0 + ], + [ + 2763.75, + -1528.601, + 148.151, + -0.2, + 12.022, + 0.0 + ], + [ + 2886.848, + -1502.386, + 148.151, + -0.2, + 12.022, + 0.0 + ], + [ + 3009.945, + -1476.172, + 149.847, + -0.2, + 12.022, + 0.0 + ], + [ + 3133.043, + -1449.957, + 149.847, + -0.2, + 12.022, + 0.0 + ], + [ + 3133.043, + -1449.957, + 149.847, + -0.2, + 37.022, + -0.0 + ], + [ + 3133.043, + -1449.957, + 149.847, + -0.2, + 37.022, + -0.0 + ], + [ + 3133.043, + -1449.957, + 149.847, + -0.2, + 37.022, + -0.0 + ] + ], + "Rationale": [ + "The tall yard lamppost stands ahead of me in the grass, its lantern head clear against the sky. I will walk straight forward across the lawn to close the gap toward its base.", + "The lamppost is noticeably nearer now, its head already rising past the top of my view, so I am still short of it. I will keep walking forward over the grass to reach its base.", + "The lamppost's pole now rises directly in front of me, filling my view from the grass at my feet to above my head. I have reached the lamppost in the yard, so I mark reaching it and set off for the lantern mounted on the house wall under the covered patio to my right.", + "The house with its covered patio sits off to my right while I am facing across the lawn. I will turn right to bring the siding wall and its mounted lantern into the center of my view.", + "The wall lantern beside the side door is visible but still sits well to the right of my heading, with the patio opening that way. Another turn right should line me up with the walkway running under the roof toward that light.", + "The paved walkway under the patio roof now runs straight ahead, with the lantern glinting on the siding beside the door. I will step forward along the pavement to close the remaining distance to it.", + "The lantern on the siding has grown larger and hangs ahead on my right, but I am still a few paces short of standing beneath it. I will continue walking along the covered walkway toward it.", + "The lantern now hangs prominently on the wall just ahead to my right, above the window beside the door. A further step forward should bring me level with it against the house wall.", + "The lantern mounted on the siding is now right beside me, but it sits at the very top right edge of my view and is clipped off. I will turn right so the wall it hangs on comes squarely in front of me.", + "The turn put the siding and its lantern ahead of me, yet the fixture is mounted high and only its base and bracket show at the top of my view. I will look up to bring the whole wall light into clear sight from this close standing spot.", + "The outdoor wall lantern hangs directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002579_y-000875_z000129_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002579_y-000875_z000129_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dafe3c9936adb0bdeee2acaf71b2a6129559f0e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002579_y-000875_z000129_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the large tree.", + "Type": 0, + "Start_Pose": [ + 2579.171, + -874.543, + 129.334, + -0.298, + -55.658, + -0.001 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2579.171, + -874.543, + 129.334, + -0.298, + -55.658, + -0.001 + ], + [ + 2650.171, + -978.461, + 133.933, + -0.298, + -55.658, + -0.0 + ], + [ + 2721.171, + -1082.38, + 138.533, + -0.298, + -55.658, + -0.0 + ], + [ + 2792.171, + -1186.298, + 143.132, + -0.298, + -55.658, + -0.0 + ], + [ + 2792.171, + -1186.298, + 143.132, + -0.298, + -80.658, + -0.0 + ], + [ + 2812.601, + -1310.486, + 148.004, + -0.298, + -80.658, + -0.0 + ], + [ + 2833.031, + -1434.674, + 148.004, + -0.298, + -80.658, + -0.0 + ], + [ + 2853.461, + -1558.862, + 148.004, + -0.298, + -80.658, + -0.0 + ], + [ + 2893.056, + -1632.748, + 148.149, + -0.298, + -80.658, + -0.0 + ], + [ + 2913.853, + -1756.836, + 148.149, + -0.298, + -80.658, + -0.0 + ], + [ + 2934.283, + -1881.024, + 148.149, + -0.298, + -80.658, + -0.0 + ], + [ + 2934.283, + -1881.024, + 148.149, + -0.298, + -105.658, + -0.0 + ], + [ + 2900.315, + -2002.211, + 148.149, + -0.298, + -105.658, + -0.0 + ], + [ + 2900.315, + -2002.211, + 148.149, + -0.298, + -105.658, + -0.0 + ] + ], + "Rationale": [ + "The large tree with the broad canopy stands out ahead and slightly to my left, rising well above the fence line at the far side of the lawn. The open grass between me and the house wall on my right gives me a clear lane, so I will step forward to begin closing that distance.", + "The tree's trunk and canopy now sit larger in the upper left of my view, confirming my previous step brought me nearer to it. The lawn ahead is still unobstructed, so I will continue walking forward along the same heading.", + "The trunk is clearly closer, with the canopy spreading across the top left and the paved pool area opening on my right. Nothing blocks the grass directly ahead, so another forward step should continue reducing the gap to the tree.", + "The tree trunk has drifted well toward the left edge of my view while my heading still points at the pool deck and the far house. I will turn left to bring the trunk back toward the middle of my view so my forward steps aim directly at it.", + "After turning, the tall trunk and its canopy sit in the left-center of my view with open lawn leading straight to its base. I will walk forward along this corrected heading to keep closing on the tree.", + "The trunk is thicker and taller in front of me now, and the lamp post beside it has slid past the same side, so my heading is holding on the target. The grass ahead is still clear, so I will advance again.", + "The tree now dominates the middle of my view, its trunk running from the ground well above the fence behind it. I am still several steps short of standing at its base, so I will keep moving forward.", + "The trunk fills the center of my view as a broad column and the shrubs by the pool have shifted to my right, showing I am nearly beside the tree. A further forward step should bring me right up to its base.", + "The large tree's thick trunk and its stone paver ring now stand just left of center in my view, clearly the biggest tree in this yard. My heading still points at it with open grass between us, so I will step forward again to close the remaining gap.", + "The trunk has grown noticeably wider and its paved base is now visible at the lower left, confirming I am closing in on the large tree. The grass ahead is still clear, so I will advance one more step toward it.", + "The massive trunk is now very close but sitting off to the left side of my view, with its paved ring running off the bottom left edge. Turning left should bring the tree back to the center of my heading so my final step lands right at its base.", + "The large trunk is now centered directly ahead with its paved ring spread out just in front of my feet. One more forward step should place me right at the base of the tree.", + "The large tree's bark fills the center of my view at arm's length, with its paved base at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002599_y-001400_z000148_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002599_y-001400_z000148_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d00e86ba61317f0af712e8281f5aaa8d7526e93e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002599_y-001400_z000148_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the large tree first, then go to the lamp on the white house wall.", + "Type": 3, + "Start_Pose": [ + 2599.243, + -1400.418, + 148.151, + -0.2, + -37.978, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2599.243, + -1400.418, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2599.243, + -1400.418, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2656.424, + -1512.537, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2713.606, + -1624.655, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2770.787, + -1736.774, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2827.969, + -1848.892, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + -12.978, + 0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + 12.022, + 0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + 37.022, + -0.0 + ], + [ + 2885.15, + -1961.011, + 148.151, + -0.2, + 62.022, + 0.0 + ], + [ + 2944.195, + -1849.862, + 148.151, + -0.2, + 62.022, + 0.0 + ], + [ + 3003.239, + -1738.713, + 149.816, + -0.2, + 62.022, + 0.0 + ], + [ + 3062.283, + -1627.564, + 149.816, + -0.2, + 62.022, + 0.0 + ], + [ + 3121.327, + -1516.415, + 149.816, + -0.2, + 62.022, + 0.0 + ], + [ + 3180.371, + -1405.266, + 149.816, + -0.2, + 62.022, + 0.0 + ], + [ + 3180.371, + -1405.266, + 149.816, + -0.2, + 62.022, + 0.0 + ], + [ + 3180.371, + -1405.266, + 149.816, + -0.2, + 62.022, + 0.0 + ] + ], + "Rationale": [ + "The thick pale trunk of the big tree stands at the far left edge of my view, while the lamp post and the white house occupy the center and right. Turning left should swing that tree onto my heading so I can walk straight across the lawn toward it.", + "The tall tree now rises near the middle of my view, its trunk clear of the fence and shrubs. Open grass lies between me and it, so I will walk forward to begin closing that distance.", + "The trunk has grown noticeably wider ahead of me and its canopy now spreads over the top of my view, so my heading is good. Nothing blocks the grass in front, and I will keep walking toward the tree.", + "The tree's bark texture is clearly readable now and the paved ring around its base is visible at the foot of the trunk. I am still several strides short of it, so I will advance again.", + "The trunk now towers through my whole view, slightly left of center, with its stone apron just ahead on the grass. Another step forward should bring me right up beside the tree.", + "The bark fills the left portion of my view and the paving stones at the tree's base are within a stride. I will step forward once more to stand right at the trunk.", + "The rough bark of the big tree rises directly beside me, filling the left of my view, with its stone apron at my feet. I am standing at the tree. I mark reaching it, then head for the lamp mounted on the white house wall behind me.", + "Standing at the tree, I face the fence and the neighboring roofs, with the pool and patio off to my right and the white house well beyond my current heading. Turning right should start bringing that white wall and its lamp into view.", + "Having marked the big tree, I now need the lamp mounted on the white house wall, and my view still faces the fence, pool and the grey neighbouring houses. Swinging further right should bring the pale clapboard house and its porch into view.", + "The pool and patio furniture now fill the centre, and a strip of pale siding with a porch roof is just entering the right edge. Another turn to the right should place that white house squarely ahead so I can head for its wall lamp.", + "The white house with its covered porch and white door now occupies the right half of my view, while the pool still takes up the left. Turning right again should bring the porch wall, where the lamp is fixed, closer to the centre of my path.", + "I can now pick out the dark lantern fixed to the white siding beside the porch door, but it sits right of my heading. One more turn to the right should line my body up with that stretch of wall before I start walking.", + "The white house front is now straight ahead, with the lantern on the siding near the door roughly in front of me and open lawn and paving in between. I will walk forward to close the remaining distance to that wall.", + "The siding and the dark lantern beside the porch door have grown noticeably larger and stay centred in my view. I will keep walking straight ahead, since nothing blocks the paved stretch leading to that wall.", + "The lantern on the white wall is clearly detailed now, hanging just right of the porch door and slightly above my eye level. I am still a few paces short of it, so another step forward should bring me right up to that wall.", + "The lamp and its bracket fill a good part of my view against the white clapboard, with only a short stretch of patio left between us. I will step forward again to stand directly beneath the fixture.", + "The lantern on the white clapboard wall is now close and just above me to the left of the downspout, with clear paved ground still ahead. One more step should bring me right up under it, close enough to stand at the wall.", + "I am right against the white siding now, and the wall fills my view so the lantern sits above my line of sight. I will look up to bring the lamp back into view and confirm I am standing directly beneath it.", + "The lantern on the white house wall hangs directly overhead within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002648_y-001438_z000148_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002648_y-001438_z000148_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66cda65f628c30cf64949916b098e48354be04fa --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002648_y-001438_z000148_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "First go to the tree with a forked trunk, then go to the lamppost in the yard.", + "Type": 3, + "Start_Pose": [ + 2647.736, + -1438.275, + 148.151, + -0.2, + -37.978, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2647.736, + -1438.275, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2647.736, + -1438.275, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2704.918, + -1550.394, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2762.099, + -1662.512, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2819.281, + -1774.631, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2819.281, + -1774.631, + 148.151, + -0.2, + -87.978, + -0.0 + ], + [ + 2823.721, + -1900.411, + 148.151, + -0.2, + -87.978, + -0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + -87.978, + -0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + -87.978, + -0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + -62.978, + -0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + -37.978, + -0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + -12.978, + 0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + 12.022, + 0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + 37.022, + -0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + 62.022, + 0.0 + ], + [ + 2828.162, + -2026.19, + 148.151, + -0.2, + 87.022, + 0.0 + ], + [ + 2834.701, + -1900.502, + 148.151, + -0.2, + 87.022, + 0.0 + ], + [ + 2841.239, + -1774.814, + 148.151, + -0.2, + 87.022, + 0.0 + ], + [ + 2841.239, + -1774.814, + 148.151, + -0.2, + 87.022, + 0.0 + ] + ], + "Rationale": [ + "The big tree whose trunk splits into two leaning limbs stands at the far left edge of my view, while the yard opens toward the patio on my right. I will turn left to bring that tree in front of me before walking to it.", + "The tree with the split trunk now sits ahead of me, its base ringed by lawn well beyond the pool edge. Nothing blocks the grass between us, so I will walk forward to close that gap.", + "The forked trunk has grown noticeably larger and its paving ring at the base is now visible, so I am gaining ground. I will keep walking straight across the grass toward it.", + "The trunk fills much more of my view and the paved ring around its roots is only a short stretch of lawn away. I will step forward again to keep closing on the tree.", + "The forked trunk has drifted left of center as I closed in, so walking straight would carry me past its side. I will turn left to put the trunk squarely ahead before continuing.", + "The trunk and its stone ring are centered directly ahead now, with clear grass between me and the base. I will walk forward to reach the tree.", + "The bark now spans the middle of my view and the stone ring is at the bottom edge of my path. One more step forward should bring me right up to the trunk.", + "The rough bark of the split trunk fills my view from top to bottom, close enough to touch. I have reached the tree with the forked trunk, and I mark reaching it before setting off toward the tall lamppost standing out in the yard.", + "The forked trunk fills my view from just an arm's length away, so there is nothing more to gain standing squarely against the bark. I will turn right to swing my view off the trunk and begin sweeping the yard for the tall lamppost.", + "The trunk has slid to my left and the open lawn with the pool is opening up ahead, but no lamppost is in this stretch of yard. I will keep turning right to bring more of the yard into view.", + "This heading shows the fence line, the pool and the patio furniture beyond it, with only small ground lights among the grass. Nothing here matches a tall lamppost, so I continue rotating right across the yard.", + "The pool now sits squarely in front of me with the patio and umbrellas behind it, and the corner of a pale house is appearing at my right. The lamppost is still outside this view, so I turn right again.", + "The white house with its covered porch now dominates the right half of my view while the pool slips to the left. No lamppost has come into sight yet, so I keep swinging right toward the ground beside the house.", + "I am facing the porch, its door and the paved area beside the shrubs, but nothing tall and slender stands in this part of the yard. I will turn right once more to reach the open grass past the house corner.", + "A tall dark post with a hooded lamp head has come into the upper right of my view, standing in the grass past the house corner. I will turn right to bring that lamppost in front of me before walking toward it.", + "The lamppost now rises directly ahead of me on the lawn, with clear grass between us and no obstacle in the way. I will walk forward to close the remaining distance to it.", + "The lamppost stands squarely ahead of me in the grass, its pole centered in my view with its base still a short distance off. I will walk forward again to close that remaining gap and stand right at the post.", + "The lamppost pole rises directly in front of me, close enough to touch. I have reached it, so the task is complete and there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002732_y000102_z000142_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002732_y000102_z000142_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..984d9ba848340042c4ce0d7ddc6ea68d2cb13ed0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002732_y000102_z000142_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "First go to the left clay pot, then go to the right clay pot.", + "Type": 3, + "Start_Pose": [ + 2731.737, + 102.23, + 141.927, + 0.0, + -18.354, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnRight", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2731.737, + 102.23, + 141.927, + 0.0, + -18.354, + 0.0 + ], + [ + 2851.194, + 62.599, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 2970.65, + 22.967, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 2970.65, + 22.967, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3153.681, + -149.838, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3153.681, + -149.838, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3153.681, + -149.838, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3153.681, + -149.838, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 3065.981, + -120.743, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 3065.981, + -120.743, + 165.148, + 0.0, + 6.646, + -0.0 + ], + [ + 3065.981, + -120.743, + 165.148, + 0.0, + 31.646, + -0.0 + ], + [ + 3065.981, + -120.743, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3065.981, + -120.743, + 165.148, + 0.0, + 81.646, + -0.0 + ], + [ + 3084.267, + 3.781, + 165.148, + 0.0, + 81.646, + -0.0 + ], + [ + 3102.553, + 128.305, + 165.148, + 0.0, + 81.646, + -0.0 + ], + [ + 3102.553, + 128.305, + 165.148, + 0.0, + 81.646, + -0.0 + ], + [ + 3102.553, + 128.305, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3102.553, + 128.305, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3102.553, + 128.305, + 165.148, + 0.0, + 56.646, + -0.0 + ] + ], + "Rationale": [ + "From the porch edge I can see two terracotta pots along the house wall, one beside the pair of chairs to the left of the door and one beside the chair on the right. My errand starts with the left one, so I walk forward to close the open deck between me and the wall.", + "The wall and door have grown noticeably larger, and the clay pot beside the two chairs on the left is still some distance off along the siding. I step forward again to keep shrinking that gap before I swing toward it.", + "I am now close to the entry door, and the pot I want has slipped to the far left edge of my view beside the chair. I turn left so my heading points down the wall toward that pot instead of into the doorway.", + "The turn has put the two wooden chairs and the clay pot beside them squarely ahead along the siding. With a clear stretch of decking between us, I walk forward toward that pot.", + "The pot and chairs have swung close and low on my left as the siding fills more of my view. One more step should bring me right up beside that clay pot rather than leaving me short of it.", + "I am pressed up against the siding and my level gaze shows only clapboards, with the pot fallen below the bottom of my view. I look down to bring the clay pot back into sight and check that I am standing at it.", + "Lowering my gaze shows the terracotta pot right at my feet beside the wooden chairs, its rim within arm's reach. I have arrived at the left clay pot. I mark reaching it and now set off for the other clay pot on the far side of the front door.", + "Standing at the left pot, my view is filled by siding and the corner of the porch, with nothing of the route back toward the door in front of me. I turn right to begin swinging my heading away from this wall and back along the porch toward the other clay pot.", + "Pale siding fills my entire view, so I am pressed almost flat against the wall beside the clay pot I just arrived at. Backing up a step should open enough clearance from the boards to swing my heading around toward the other clay pot down the porch.", + "I have gained a little distance from the siding, yet I still face blank wall with only the rim of the pot at my feet showing in the lower corner. Turning right begins swinging my heading off this wall and back toward the open deck where the other clay pot sits.", + "The narrow sidelight beside the entry door has just entered the right edge, so my heading has rotated toward the front of the house but not yet onto the open porch. Another right turn should carry my view further around toward the far stretch of decking.", + "The front door now stands squarely before me, with chairs and a terracotta pot appearing at the right edge of the deck. Continuing to turn right should bring that side of the porch, where the second clay pot rests, into my forward path.", + "The door is sliding toward my left edge while the porch opens away to the right with chairs and a clay pot along its stretch. One more right turn should point me straight down that walkway toward the pot.", + "I am now aimed straight along the porch, and the clay pot beside the wooden chairs is clearly ahead on the left of the decking. Walking forward should close most of the gap to it.", + "The chairs and the clay pot at their base have grown much larger and sit just off my left shoulder. One more step forward should bring me level with the pot.", + "The chairs now crowd my left side and the clay pot has dropped out of the bottom of my view, which suggests it is very close beneath me. Lowering my gaze should bring the pot back into sight so I can confirm I am standing right at it.", + "The wooden chairs fill the left of my view and the clay pot I am closing on sits just past them, near the bottom edge on my left. Turning left should swing my heading toward the pot beside the chairs so it settles in front of me.", + "With my heading now along the wall, the chairs are centered but the terracotta pot sits low and close to my feet, mostly below my line of sight. Looking down should bring the pot fully into view so I can confirm I am standing right at it.", + "The terracotta clay pot sits directly at my feet beside the chairs. Both named pots have now been reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002732_y000102_z000142_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002732_y000102_z000142_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2974f3b6d0b0c6bfe09b24c0d7220e738a87a3c7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002732_y000102_z000142_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the tomato by the left clay pot, then place it by the right clay pot.", + "Type": 5, + "Start_Pose": [ + 2731.737, + 102.23, + 141.927, + 0, + -18.354, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3169.997, + -185.662, + 130.986, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2731.737, + 102.23, + 141.927, + 0, + -18.354, + 0 + ], + [ + 2851.194, + 62.599, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 2970.65, + 22.967, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 2970.65, + 22.967, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + -43.354, + 0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + -18.354, + 0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + 6.646, + -0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + 31.646, + -0.0 + ], + [ + 3062.165, + -63.435, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3131.364, + 41.693, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3131.364, + 41.693, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3091.778, + -18.448, + 165.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3091.778, + -18.448, + 165.148, + 0.0, + 56.646, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3169.997, + -185.662, + 130.986, + 0.0, + 0.0, + 0.0 + ], + [ + 3169.997, + -185.662, + 130.986, + 0.0, + 0.0, + 0.0 + ], + [ + 3169.997, + -185.662, + 130.986, + 0.0, + 0.0, + 0.0 + ], + [ + 3169.997, + -185.662, + 130.986, + 0.0, + 0.0, + 0.0 + ], + [ + 3169.997, + -185.662, + 130.986, + 0.0, + 0.0, + 0.0 + ], + [ + 3076.381, + -47.49, + 135.256, + -28.202, + 6.791, + 1.862 + ], + [ + 3068.606, + -42.064, + 135.529, + -28.189, + 31.803, + 1.872 + ], + [ + 3059.711, + -41.046, + 134.862, + -28.215, + 56.773, + 1.849 + ], + [ + 3052.893, + -37.971, + 134.916, + -14.092, + 73.99, + 6.87 + ], + [ + 3043.995, + -51.998, + 134.932, + -28.208, + 106.788, + 1.851 + ], + [ + 3113.138, + 52.854, + 135.353, + -28.189, + 106.804, + 1.869 + ], + [ + 3113.243, + 53.008, + 135.07, + -28.198, + 106.792, + 1.862 + ], + [ + 3130.265, + 40.022, + 180.148, + 0.0, + 56.646, + -0.0 + ], + [ + 3130.265, + 40.022, + 180.148, + 0.0, + 56.646, + -0.0 + ] + ], + "PD_Dist_2D": [ + 524.4, + 404.1, + 288.6, + 288.6, + 163.0, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the porch entrance I can see the red tomato sitting on the deck beside the clay pot on the left side, near the pair of wooden chairs. It is still far across the boards, so I will walk forward to close that gap before any grasp is possible.", + "The tomato and its neighboring clay pot are noticeably larger now, but they remain off to my left and still out of arm's reach. Another step forward should bring me near enough to that corner of the porch to work on the grasp.", + "My heading points straight at the front door, while the tomato has drifted to the lower left edge of my view beside its clay pot. I will turn left so the target sits in front of me rather than at the margin.", + "The tomato and the clay pot next to it are now ahead of me along the siding, but a short gap of decking still separates us. I will step forward to stand close enough that a pick attempt can reach the tomato.", + "The tomato now fills the lower part of my view right in front of me, next to the clay pot against the siding. This is as close as I need to be, so I will attempt to pick it up.", + "The grasp worked, since the tomato is now in my hands rather than resting on the deck. The destination pot is on the far side of the front door, well behind my current heading into the wall corner. I will turn right to begin swinging around toward it.", + "I am still carrying the tomato, and my view shows only blank siding with the wall lantern and the edge of the doorway. The clay pot on the other side of the door is not visible yet, so I will keep turning right to sweep my heading toward it.", + "My view has come around to the narrow sidelight and the dark front door, which means I am partway through the turn but not yet facing the porch stretch beyond it. The far clay pot should lie further to my right, so I will continue rotating that way.", + "The tomato is in my hands and the front door still fills most of my view, with the porch continuing off to my right. I will turn right again so my heading runs along that side of the porch, where the second clay pot should stand.", + "Now the porch opens ahead along the wall and I can see the terracotta clay pot beside the wooden chairs on the right. Carrying the tomato, I will walk forward to close the gap to that pot before placing anything.", + "I have advanced along the porch and the chairs are close beside me, but my view is aimed at the siding and lantern, so the pot at deck level is cut off. I will look down to bring the clay pot and the boards next to it into view for a controlled placement.", + "With my gaze lowered, the right clay pot sits clearly in front of me beside the chairs, well within reach. The deck immediately next to it is clear, so I will release the tomato here and expect it to come to rest by that pot.", + "The tomato now rests on the deck beside the right clay pot and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002800_y000071_z000147_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002800_y000071_z000147_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b85fb4fcc3e1d6c6cc00719ce52732dd71940f6e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002800_y000071_z000147_t2_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the chair on the far left.", + "Type": 2, + "Start_Pose": [ + 2799.768, + 71.38, + 146.726, + 0.0, + -18.354, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2799.768, + 71.38, + 146.726, + 0.0, + -18.354, + 0.0 + ], + [ + 2919.225, + 31.749, + 165.11, + 0.0, + -18.354, + 0.0 + ], + [ + 2919.225, + 31.749, + 165.11, + 0.0, + -43.354, + 0.0 + ], + [ + 3010.74, + -54.654, + 165.11, + 0.0, + -43.354, + 0.0 + ], + [ + 3010.74, + -54.654, + 165.11, + 0.0, + -68.354, + 0.0 + ], + [ + 3057.166, + -171.638, + 165.11, + 0.0, + -68.354, + 0.0 + ], + [ + 3103.591, + -288.621, + 200.347, + 0.0, + -68.354, + 0.0 + ], + [ + 3109.213, + -314.421, + 217.991, + 0.0, + -68.354, + 0.0 + ], + [ + 3109.213, + -314.421, + 217.991, + 0.0, + -68.354, + 0.0 + ], + [ + 3075.129, + -228.537, + 165.15, + 0.0, + -68.354, + 0.0 + ], + [ + 3075.129, + -228.537, + 165.15, + 0.0, + -93.354, + 0.0 + ], + [ + 3067.766, + -354.18, + 165.15, + 0.0, + -93.354, + 0.0 + ], + [ + 3060.402, + -479.823, + 165.15, + 0.0, + -93.354, + 0.0 + ], + [ + 3060.402, + -479.823, + 165.15, + 0.0, + -68.354, + 0.0 + ], + [ + 3060.402, + -479.823, + 165.15, + 0.0, + -43.354, + 0.0 + ], + [ + 3060.402, + -479.823, + 165.15, + 0.0, + -18.354, + 0.0 + ], + [ + 3083.387, + -503.928, + 165.15, + 0.0, + -18.354, + 0.0 + ], + [ + 3083.387, + -503.928, + 165.15, + 0.0, + -18.354, + 0.0 + ] + ], + "Rationale": [ + "Looking down the porch, the wooden chairs are grouped away to my left, and the one I want is the farthest of them, clipped by the edge of my view where the deck runs toward the far end wall. I will step forward across the open boards to close some of that distance before swinging toward it.", + "My advance has left the front door filling most of my view, with only one chair and a pot clinging to the left edge. The chair I am heading for sits deeper along the porch on that side, so I will turn left to bring that stretch of deck back in front of me.", + "The turn has opened the left arm of the porch, and I can see two chairs with a planter set against the siding, the far end wall behind them. My target is the chair nearest that end wall, so I will walk forward along the clear boards toward the group.", + "The chairs now sit low and left of my heading while the siding crowds the right side of my view. Turning left should square me with the run of deck leading to the far end of the porch, where the chair I want stands.", + "With the railing and yard now visible off to my left, the chairs sit ahead against the siding with unobstructed boards between us. I will keep walking forward to reach the group and get close to the chair standing nearest the far end wall.", + "Two chairs now stand out clearly along the siding, the nearer one close on my right and the other set deeper toward the end wall. That deeper one is what I want, so I will keep walking forward along the boards to close the remaining gap.", + "The near chair has slid down into my right foreground while the chair by the end wall sits just left of my heading, with the corner of the porch closing in ahead. A little more forward walking should bring me alongside that far chair.", + "My last stride barely changed anything; the siding is pressed hard against my right and the view has shifted only a hair. The chair by the end wall is still just ahead and slightly left, so I will try one more push forward toward it.", + "That push gained nothing at all, the view is unchanged and the siding is right against me, so I am jammed too tight against the wall to make headway. Backing up should give me clearance and room to swing onto a freer line toward the chair at the end wall.", + "With some distance regained, both chairs are back in view and the open deck runs away to my left rather than along the wall I was scraping. Turning left should point me down that clear stretch so I can come at the chair by the end wall from open boards instead of the siding.", + "The deck now runs clear ahead toward the end wall, with the railing and yard opening on my left and the chairs sitting back against the siding on my right. Walking this open lane should carry me level with the chair standing nearest that end wall without scraping the boards along the wall again.", + "The end wall has grown across the front of my view and only one chair remains at my right edge, the one set deepest toward that wall. Another stride on these free boards should bring me abreast of it.", + "The end wall is close in front of me now and the chair has slipped past the right edge of what I can see. Turning right should swing my heading back off the wall and toward where that chair stands.", + "That rotation has landed me facing the inside corner where the two walls meet, and the chair is still outside my view to the right. I will keep turning right to carry my heading further around toward it.", + "The slatted back of the chair by the end wall has come into the lower right of my view, tucked against the siding. One more turn right should set it squarely in front of me so I can step the last bit up to it.", + "The chair is now centered right in front of me against the siding, its slatted back filling the lower part of my view. Only a short gap of decking separates us, so I will take one small step forward to stand right at it.", + "The chair fills the space directly before me, close enough to touch. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002932_y001045_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002932_y001045_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2075ddba256846d5c006fe2920ca63fd1f45cb26 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002932_y001045_z000168_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the house and go to the fireplace.", + "Type": 1, + "Start_Pose": [ + 2932.043, + 1044.672, + 168.149, + -0.301, + -61.107, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2932.043, + 1044.672, + 168.149, + -0.301, + -61.107, + -0.0 + ], + [ + 2932.043, + 1044.672, + 168.149, + -0.301, + -36.107, + -0.0 + ], + [ + 2932.043, + 1044.672, + 168.149, + -0.301, + -11.107, + 0.0 + ], + [ + 2932.043, + 1044.672, + 168.149, + -0.301, + 13.893, + 0.0 + ], + [ + 2932.043, + 1044.672, + 168.149, + -0.301, + 38.893, + -0.0 + ], + [ + 2932.043, + 1044.672, + 168.149, + -0.301, + 63.893, + 0.0 + ], + [ + 2962.67, + 1156.207, + 168.149, + -0.301, + 63.893, + 0.0 + ], + [ + 3011.746, + 1269.067, + 168.149, + -0.301, + 63.893, + 0.0 + ], + [ + 3011.831, + 1378.61, + 168.149, + -0.301, + 63.893, + 0.0 + ], + [ + 3027.605, + 1488.82, + 168.149, + -0.301, + 63.893, + 0.0 + ], + [ + 3027.605, + 1488.82, + 168.149, + -0.301, + 38.893, + 0.0 + ], + [ + 3078.117, + 1536.57, + 168.149, + -0.301, + 38.893, + 0.0 + ], + [ + 3078.117, + 1536.57, + 168.149, + -0.301, + 38.893, + 0.0 + ] + ], + "Rationale": [ + "From here I face a blank interior wall with two framed pictures and a small console table, so no fireplace is anywhere in sight. The only opening I can see is the arched doorway with bookshelves toward my right, so I will begin a rightward scan to open up more of the house. This should reveal the adjoining rooms where a fireplace is more likely to stand.", + "Turning right has already opened the room up, showing a dining table, the arch with bookshelves, and cabinetry that looks like a kitchen further right. There is still no hearth or chimney breast in view, so I will keep rotating in the same direction. Continuing consistently should sweep the wider open living area without rechecking ground I have already seen.", + "I now look down the length of the dining table into an open kitchen with counters and hanging lights, and a brown sofa back is just entering the right side of my view. A lounge seating area is a strong cue that the fireplace lies on that side of the open plan. I will turn right again to bring that living space into the middle of my view.", + "The sectional sofa and a tall pale tiled column with a mantel-like ledge are now appearing on the right side of the room. That looks very much like the chimney breast I am hunting for, but it is still cut off near the edge of my view. I will turn right once more to bring the suspected fireplace fully in front of me.", + "The fireplace is clearly in view now, a tiled chimney breast with a white mantel and dark firebox, sitting on the wall just right of my heading. Rather than continue scanning the rest of the house, I will commit to this target. One more small right turn should line my heading up with the hearth before I walk toward it.", + "The fireplace with its tiled surround and mantel now sits close to the center of my view, so my heading is good. The open floor past the end of the sofa gives me a clear walking lane toward it. I will step forward to close the distance to the hearth.", + "The fireplace has grown larger ahead of me, with the firebox and mantel plainly visible past the corner of the sofa. I still have several paces of open floor before reaching the hearth. I will keep walking forward to get close to it.", + "I am now in the living area with the fireplace directly ahead, its stone hearth and dark firebox clearly framed by the tiled chimney breast. The remaining gap is only a short walk across bare floor. I will advance again to stand right at the fireplace.", + "The tiled fireplace with its white mantel and open hearth now fills the left half of my view at close range, confirming I found the target. I will step forward once more to close the last of the gap and stand directly in front of it.", + "Being this close, the fireplace has slipped to the left portion of my view while the blank wall and small framed picture dominate the center. I will turn left to bring the hearth and mantel back into the middle of my view.", + "The fireplace is now centered in my view with the mantel, hearth opening and tiled surround plainly in front of me. I will take one short step forward to finish arriving at it.", + "The fireplace mantel and hearth are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002943_y-002138_z000149_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002943_y-002138_z000149_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..febd94589e2f7f0390a66deb14b0c1a1949c90ec --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002943_y-002138_z000149_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the poolside patio to the white door under the small awning and open it.", + "Type": 4, + "Start_Pose": [ + 2943.3, + -2138.447, + 148.816, + 0.0, + 58.282, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2943.3, + -2138.447, + 148.816, + 0.0, + 58.282, + -0.0 + ], + [ + 3009.469, + -2031.386, + 148.382, + 0.0, + 58.282, + -0.0 + ], + [ + 3075.638, + -1924.324, + 148.382, + 0.0, + 58.282, + -0.0 + ], + [ + 3141.807, + -1817.263, + 152.668, + 0.0, + 58.282, + -0.0 + ], + [ + 3207.976, + -1710.201, + 149.847, + 0.0, + 58.282, + -0.0 + ], + [ + 3274.145, + -1603.14, + 149.847, + 0.0, + 58.282, + -0.0 + ], + [ + 3340.314, + -1496.078, + 149.847, + 0.0, + 58.282, + -0.0 + ], + [ + 3340.314, + -1496.078, + 149.847, + 0.0, + 83.282, + -0.0 + ], + [ + 3354.835, + -1397.138, + 149.883, + 0.0, + 83.282, + -0.0 + ], + [ + 3354.835, + -1397.138, + 149.883, + 0.0, + 83.282, + -0.0 + ], + [ + 3354.835, + -1397.138, + 149.883, + 0.0, + 83.282, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the grass at the edge of the pool I can already see the white door set under the small awning on the far side of the paved patio. Nothing blocks the paving to my front right, so I will move forward to begin closing that distance.", + "The awning and the white door now sit noticeably larger in view, so my heading is carrying me toward the target. The pool rim stays off to my left and the patio ahead is clear, so I will keep advancing.", + "I am now onto the patio slabs with the door and its side window clearly framed under the awning roof. There is still a fair span of paving between me and the threshold, so another forward step is the direct way to continue.", + "The awning ceiling and support post are close now, and the white door remains slightly right of my center. I will move forward again since no furniture or planter obstructs the run up to the wall.", + "The door panels, brass handle, and adjacent shuttered window are now plainly readable, so I am within the last few steps of the entry. I will continue forward to bring myself up to the doorway.", + "The door fills much of my view but I am still standing off to its side rather than in front of it. One more forward step should place me at the wall where the handle is within reach.", + "I am close to the wall, but the door and its brass lever sit toward the right edge of my view and the siding runs away obliquely, so I am not squared to the panel. I will turn right to bring the door and handle into the center of my view for a clean interaction.", + "The white door is now centered ahead with its lever handle and sidelight directly in front of me. A short forward step should close the last gap so the handle is within reach for opening.", + "The brass lever handle of the white door now fills my view at arm's length, with the door edge and jamb seam just to the right, so I am squarely within reach. Nothing else blocks the panel, so I will operate the handle and try to swing the door open.", + "The white door now stands open, revealing the interior hallway and floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002946_y-000185_z000165_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002946_y-000185_z000165_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c1c999ab6a505f3f53a2f4107cca8b960b30d1d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002946_y-000185_z000165_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Go to the table first, then go to the front door.", + "Type": 3, + "Start_Pose": [ + 2946.206, + -185.156, + 165.15, + 0.0, + 70.926, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2946.206, + -185.156, + 165.15, + 0.0, + 70.926, + -0.0 + ], + [ + 2987.335, + -66.207, + 165.15, + 0.0, + 70.926, + -0.0 + ], + [ + 3028.465, + 52.742, + 165.15, + 0.0, + 70.926, + -0.0 + ], + [ + 3028.465, + 52.742, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 3015.471, + 177.928, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 3002.476, + 303.115, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 2989.482, + 428.301, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + 70.926, + -0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + 45.926, + -0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + 20.926, + -0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + -4.074, + 0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + -29.074, + 0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + -54.074, + 0.0 + ], + [ + 2976.488, + 553.488, + 165.15, + 0.0, + -79.074, + 0.0 + ], + [ + 3000.343, + 429.91, + 165.15, + 0.0, + -79.074, + 0.0 + ], + [ + 3024.199, + 306.333, + 165.15, + 0.0, + -79.074, + 0.0 + ], + [ + 3048.054, + 182.755, + 165.15, + 0.0, + -79.074, + 0.0 + ], + [ + 3048.054, + 182.755, + 165.15, + 0.0, + -54.074, + 0.0 + ], + [ + 3048.054, + 182.755, + 165.15, + 0.0, + -29.074, + 0.0 + ], + [ + 3148.155, + 116.289, + 191.935, + 0.0, + -29.074, + 0.0 + ], + [ + 3148.155, + 116.289, + 191.935, + 0.0, + -29.074, + 0.0 + ] + ], + "Rationale": [ + "Looking down the covered porch, I can pick out a round table with chairs at the far end, past the wooden chairs lined against the siding. The table is where I need to go first, so I walk forward along the open boards to cut that distance.", + "The table at the end of the porch has grown slightly larger, so my heading is carrying me toward it. The decking between us is still clear of obstacles, so I keep walking straight ahead.", + "From here the table sits right of the direction I am facing, while straight ahead my path would graze the wooden chairs and planter along the house wall. I turn right so my facing lines up with the table before I keep walking.", + "The table and its chairs now sit near the middle of my view with a wide, empty stretch of deck leading to them. Nothing stands in that lane, so I walk forward to close the gap.", + "The table has come noticeably closer, its chairs now clearly separate against the pale siding. Several strides of decking still separate us, so I continue forward.", + "The tabletop now takes up a good share of my forward view, slightly left of center under the porch roof. I am not yet beside it, so I step forward again to bring myself right up to it.", + "The table edge and one chair are very close on my left now, and the porch corner opens onto the lawn just beyond. One more step forward should put me right at the table rather than short of it.", + "The tabletop with its umbrella hole spreads directly beneath me and a chair back rises at my elbow, so I am standing at the table. I have reached it. I mark reaching the table, then set off for the dark front door back along the porch.", + "The patio table fills the near corner of my view, so I am standing right at it and my business here is done. My other destination, the dark front door, lies back along the covered porch behind my current heading, and only blank siding and the yard railing face me now. I begin swinging left to bring that stretch of porch into view.", + "The turn has swept the table across my view and brought the house wall and a window edge in from the left, but no doorway yet. The front door lies further around in that direction, so I keep rotating left rather than settling here. Another left step should carry more of the porch walkway into view.", + "Now a tall lit window with bookshelves behind it sits on my left and the table has slid to my right. That is house wall, not the entrance I want, so my heading is still short of the door. I turn left again to keep sweeping along the facade.", + "The shuttered window is now centered ahead of me with a chair below it, so I am facing flat wall rather than any entrance. The porch continues past the left edge of my view, which is where the door should be. I rotate left once more to follow that line.", + "Two windows with dark shutters fill my view and a wooden chair has come in on the left, showing that the seating run of the porch is opening up in that direction. The entrance is still outside my view, so I continue turning left. A little more rotation should bring the door edge into frame.", + "A dark panelled door with a lantern beside it has appeared at the far left of my view, past the two porch chairs. That is the entrance I am heading for, and it is still well off my heading. I turn left again to bring it toward the middle of my view.", + "The dark door now sits left of center with the porch decking running away past it, so I am nearly lined up with the walkway rather than the wall. One more left step should put that open run of deck straight ahead of me. I turn left again before moving.", + "The long porch walkway now runs straight ahead of me, with the dark front door and its lantern set in the wall on my right partway down. The deck between is clear of chairs and planters. I step forward along it to close the distance to that door.", + "The dark panelled entry door with its brass handle sits ahead on my right along the porch wall, still a few paces off. I will walk forward again to close that remaining gap before I turn toward it.", + "The entry door has grown large on my right, but my heading still runs along the porch rather than into it. Another step forward should bring me level with the doorway so a turn puts it squarely in front of me.", + "I am now standing level with the entry door, which fills the right edge of my view while I face down the empty porch. Turning right should swing that doorway toward the center of my view.", + "The dark door with its sidelight has come into view on my right, but it is still off to the side and seen at an angle. One more turn to the right should square my heading with the doorway.", + "The front door now sits centered ahead of me with its handle and sidelight straight on. A step forward should carry me right up to the threshold of this entrance.", + "The front door's handle and deadbolt fill my view at arm's length. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002946_y-000185_z000165_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002946_y-000185_z000165_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f7aaa4c25ffe6bd3eff158ba79073a164a1947 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002946_y-000185_z000165_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Lift the green bell pepper by the table, then place it by the front door.", + "Type": 5, + "Start_Pose": [ + 2946.206, + -185.156, + 165.15, + 0, + 70.926, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2910.551, + 560.729, + 120.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2946.206, + -185.156, + 165.15, + 0, + 70.926, + 0 + ], + [ + 2987.335, + -66.207, + 165.15, + 0.0, + 70.926, + -0.0 + ], + [ + 3028.465, + 52.742, + 165.15, + 0.0, + 70.926, + -0.0 + ], + [ + 3028.465, + 52.742, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 3015.471, + 177.928, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 3002.476, + 303.115, + 165.15, + 0.0, + 95.926, + -0.0 + ], + [ + 3002.476, + 303.115, + 165.15, + 0.0, + 120.926, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + 120.926, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + 120.925, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + 95.925, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + 70.925, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + 45.925, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + 20.925, + -0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + -4.075, + 0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + -29.075, + 0.0 + ], + [ + 2937.794, + 411.081, + 165.15, + 0.0, + -54.075, + 0.0 + ], + [ + 3011.639, + 309.162, + 165.15, + 0.0, + -54.075, + 0.0 + ], + [ + 3083.111, + 207.569, + 165.15, + 0.0, + -54.075, + 0.0 + ], + [ + 3147.313, + 104.429, + 176.962, + 0.0, + -54.075, + 0.0 + ], + [ + 3105.068, + 162.733, + 177.994, + 0.0, + -54.075, + 0.0 + ], + [ + 3105.068, + 162.733, + 177.994, + 0.0, + -54.075, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2910.551, + 560.729, + 120.15, + 0.0, + 0.0, + 0.0 + ], + [ + 2919.789, + 399.583, + 135.256, + -28.202, + 171.07, + 1.862 + ], + [ + 2917.564, + 408.363, + 135.529, + -28.189, + 146.082, + 1.872 + ], + [ + 2918.779, + 417.822, + 134.862, + -28.215, + 121.053, + 1.849 + ], + [ + 2922.191, + 433.741, + 135.043, + -14.175, + 88.118, + 6.959 + ], + [ + 2929.929, + 430.545, + 134.932, + -28.208, + 71.068, + 1.851 + ], + [ + 2938.88, + 430.93, + 135.6, + -28.198, + 46.072, + 1.867 + ], + [ + 2955.643, + 432.016, + 135.043, + -14.175, + 13.118, + 6.959 + ], + [ + 2954.559, + 423.715, + 134.932, + -28.208, + -3.932, + 1.851 + ], + [ + 3028.527, + 322.261, + 135.353, + -28.189, + -3.917, + 1.869 + ], + [ + 3099.808, + 220.921, + 135.844, + -28.191, + -3.926, + 1.875 + ], + [ + 3164.054, + 117.722, + 135.809, + -28.192, + -3.92, + 1.873 + ], + [ + 3146.139, + 106.048, + 167.994, + 0.0, + -54.075, + 0.0 + ], + [ + 3146.139, + 106.048, + 167.994, + 0.0, + -54.075, + 0.0 + ] + ], + "PD_Dist_2D": [ + 746.7, + 631.6, + 521.5, + 521.5, + 396.9, + 273.5, + 273.5, + 152.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the near end of the covered porch I can already see a rounded green shape sitting on the deck beside the patio table, far down toward the railing. That matches the bell pepper I need to lift, so I will walk straight ahead along the open boards to close that long gap.", + "The green pepper by the table is noticeably larger now and still lies well down the porch near the railing. Nothing blocks the deck between me and it, so another straight step forward should keep shrinking the distance before I need to fine tune my heading.", + "My heading is drifting toward the house wall and windows, while the green pepper sits well to the right of center near the porch railing. A turn to the right should bring it closer to the middle of my view so my next steps carry me directly at it rather than past its left side.", + "After the turn the pepper sits ahead beside the table, roughly in line with my path along the open deck. The stretch of boards in front of me is clear of chairs and planters, so I will step forward again to cut the remaining distance.", + "The pepper is now clearly resolved as a large green bell pepper on the deck just short of the railing, and it fills much more of my view. It is still several paces off, so I will keep walking forward to reach an interaction range.", + "The pepper now sits to the right of my centerline, close to the railing, while my heading points down the porch past it. Turning right should square me onto it so a final step brings it directly in front of me instead of sliding by on my flank.", + "With my heading now set toward the railing side, the bell pepper sits low and near in my view with clear deck between us. One more step forward should bring it within grasping range so I can attempt the lift.", + "The green bell pepper is right at my feet in the near foreground, big enough that its stem and ribbing fill the lower part of my view, and nothing stands between us. This is the closest I can practically stand to it, so I will try to pick it up now.", + "The grasp worked, and the green bell pepper is now held in my hands instead of resting on the porch boards. The front door lies back along the porch behind my current heading, so I will turn left to start swinging around toward it.", + "I am carrying the pepper and now face the patio table and railing along the side of the porch, with no doorway ahead. Another left turn should continue rotating me back toward the house entrance.", + "The table and chairs now sit centered ahead of me while the pepper stays in my hands. Since the entrance is still further to my left along the wall, I will keep turning left.", + "Ahead I see only siding and lit windows of the house, with the table drifting off to my right. The door must be further along the wall to my left, so I continue the left rotation while holding the pepper.", + "Two large windows and a wooden chair fill what is in front of me, and the entrance still has not come into my heading. Turning left again should carry my facing further down the wall toward the door.", + "The pepper stays secure in my hands, but in front of me there are only porch chairs, a footstool, and window shutters, with no doorway yet. I will turn left once more so the front door can come into my heading.", + "The dark front door with its lantern is now visible along the wall, but it sits off to my left rather than straight ahead. One more left turn should line my heading up with the doorway before I walk to it.", + "The front door is now roughly ahead of me down the porch, with clear decking between us and only chairs and a planter set aside along the wall. Still carrying the pepper, I will walk forward to close the distance to the entrance.", + "The pepper is still in my hands, and the dark front door with its brass handle now stands close on my right. I am not yet beside its threshold, so I will step forward again along the porch boards to close that remaining gap.", + "The door panel now dominates my view at close range, but I am still slightly short of standing squarely at its threshold with the pepper. One more step forward should bring me right up beside the doorway before I set the pepper down.", + "I am now standing immediately at the front door, its panels and frame filling my view at arm's length, and the pepper is still held. This is the placement spot the task calls for, so I will release the pepper here and expect it to come to rest by the door.", + "The green bell pepper now rests on the porch directly beside the front door, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002972_y001528_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002972_y001528_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f7f31640544509bb9ea4695f91b0b96a7b8ba98 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002972_y001528_z000468_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the fireplace first, then go to the office chair.", + "Type": 3, + "Start_Pose": [ + 2972.059, + 1528.081, + 468.15, + 0.0, + -36.721, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2972.059, + 1528.081, + 468.15, + 0.0, + -36.721, + 0.0 + ], + [ + 2972.059, + 1528.081, + 468.15, + 0.0, + -61.721, + 0.0 + ], + [ + 2994.888, + 1419.439, + 468.15, + 0.0, + -61.721, + 0.0 + ], + [ + 3038.025, + 1309.41, + 468.15, + 0.0, + -61.721, + 0.0 + ], + [ + 3097.652, + 1198.572, + 468.15, + 0.0, + -61.721, + 0.0 + ], + [ + 3157.28, + 1087.734, + 468.15, + 0.0, + -61.721, + 0.0 + ], + [ + 3157.28, + 1087.734, + 468.15, + 0.0, + -61.721, + 0.0 + ], + [ + 3157.28, + 1087.734, + 468.15, + 0.0, + -36.721, + 0.0 + ], + [ + 3157.28, + 1087.734, + 468.15, + 0.0, + -11.721, + 0.0 + ], + [ + 3157.28, + 1087.734, + 468.15, + 0.0, + 13.279, + -0.0 + ], + [ + 3157.28, + 1087.734, + 468.15, + 0.0, + 38.279, + -0.0 + ], + [ + 3256.08, + 1165.703, + 468.15, + 0.0, + 38.279, + -0.0 + ], + [ + 3354.88, + 1243.671, + 468.15, + 0.0, + 38.279, + -0.0 + ], + [ + 3354.88, + 1243.671, + 468.15, + 0.0, + 63.279, + -0.0 + ], + [ + 3411.472, + 1356.089, + 468.15, + 0.0, + 63.279, + -0.0 + ], + [ + 3411.472, + 1356.089, + 468.15, + 0.0, + 38.279, + -0.0 + ], + [ + 3510.271, + 1434.058, + 468.15, + 0.0, + 38.279, + -0.0 + ], + [ + 3579.906, + 1498.961, + 468.15, + 0.0, + 38.279, + -0.0 + ], + [ + 3579.906, + 1498.961, + 468.15, + 0.0, + 38.279, + -0.0 + ] + ], + "Rationale": [ + "The fireplace sits well off to my left edge, its mantel partly cut off by the frame, so a straight walk from here would drift past it. I will turn left to bring the hearth toward the center of my view before advancing.", + "The fireplace and its mantel now sit ahead of me with open carpet between us and no furniture blocking the way. I will walk forward to close that gap.", + "The hearth is noticeably larger and the framed picture above the mantel is now clearly legible, so my heading is good but I am still several strides short. I will keep walking straight toward it.", + "The mantel, candlestick and small photo frames are resolving in detail, yet the hearth still stands at a distance across the carpet. Another step forward should bring me close enough to be standing at the fireplace.", + "The fireplace now fills much of my left view with the mantel edge nearly at arm's reach, but I am not yet beside it. I will take one more step forward to stand right at the hearth.", + "The mantel, its candlestick and the tiled firebox are right beside me, close enough to touch. I have arrived at the fireplace, and I mark reaching it before setting off toward the office chair in the far part of the floor.", + "Standing at the hearth, my view is filled by the mantel and the near wall, which tells me nothing about where a desk and chair might sit. I will turn right to sweep my heading back across the open room and look for the office chair.", + "The turn has opened up the corridor of doors and empty carpet, but no desk or chair is in sight yet. I will continue turning right to keep scanning the deeper part of the room.", + "The hearth is now behind me and I am sweeping my gaze rightward across the long open room, but so far I only see closed doors, a tall cabinet and bare carpet. No desk or office chair has come into view yet, so I will keep rotating right to bring the far end of the room into sight.", + "Swinging right has revealed a dark office chair pulled up to a desk in the far alcove, past the low partition wall on the right side of my view. It sits well off my current heading, so another right turn should bring that chair closer to the middle of my view before I start walking.", + "The office chair at the desk now sits near the center of my view, with the potted plant and floor lamp beside it and clear carpet between us. My heading is good enough to close distance, so I will walk forward toward that alcove.", + "The chair, desk and lamp have grown noticeably larger, confirming my line of travel is taking me into the alcove. I am still several strides short of the chair, so I will keep walking forward.", + "The low partition wall and the tall cabinet now crowd the left side of my path, and the doorway opening lies straight ahead of me rather than the chair. A step to the right of that partition gives the cleaner lane into the alcove, so I will turn right before advancing.", + "From this heading the partition is out of my way and the desk corner with its chair, lamp and plant lies open ahead on my left. I will step forward into the alcove to close the remaining distance.", + "I am now inside the alcove, but the office chair sits well to my left while my view is filled by the lamp and the framed panel on the right wall. Turning left should place the chair squarely in front of me for a straight final approach.", + "The office chair is now centered ahead of me at the desk, only a couple of strides away. I will walk forward to stand right at it.", + "The padded office chair now fills the left of my view beside the desk, but a short gap of carpet still separates me from it. I will step forward once more to close that remaining distance and stand right at the chair.", + "The office chair's backrest stands directly before me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002981_y-000011_z000165_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002981_y-000011_z000165_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10689f6f917f11e1e81e7905a2895130f0dda5c6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002981_y-000011_z000165_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the yard for the lamppost and move close to it.", + "Type": 1, + "Start_Pose": [ + 2980.666, + -11.351, + 164.967, + 0.0, + 17.166, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2980.666, + -11.351, + 164.967, + 0.0, + 17.166, + -0.0 + ], + [ + 2980.666, + -11.351, + 164.967, + 0.0, + 42.166, + -0.0 + ], + [ + 2980.666, + -11.351, + 164.967, + 0.0, + 67.166, + -0.0 + ], + [ + 2980.666, + -11.351, + 164.967, + 0.0, + 92.166, + -0.0 + ], + [ + 2980.666, + -11.351, + 164.967, + 0.0, + 117.166, + -0.0 + ], + [ + 2980.666, + -11.351, + 164.967, + 0.0, + 142.166, + -0.0 + ], + [ + 2881.264, + 65.848, + 164.967, + 0.0, + 142.166, + -0.0 + ], + [ + 2780.519, + 139.596, + 184.928, + 0.0, + 142.166, + -0.0 + ], + [ + 2780.519, + 139.596, + 184.928, + 0.0, + 167.166, + -0.0 + ], + [ + 2657.805, + 167.553, + 155.772, + 0.0, + 167.166, + -0.0 + ], + [ + 2657.805, + 167.553, + 155.772, + 0.0, + 167.166, + -0.0 + ] + ], + "Rationale": [ + "I am standing on a covered porch facing a closed front door, with only a small wall sconce beside it and no lamppost anywhere in view. Since a lamppost belongs out in the yard, I will turn right to begin a steady scan away from this wall and toward more open ground.", + "The view now runs along the porch past windows, chairs and a planter, still with the house wall on my left and no lamppost in sight. I will keep turning right in the same direction to continue the scan toward wherever the porch opens onto the yard.", + "Further along the porch I can now see a railing on the right with grass, a fence and neighboring rooftops beyond it, so the yard lies in that direction. No lamppost is visible yet, so I will continue the same rightward scan toward the open side.", + "The open yard, white picket fence and shrubs are now clearly framed through the railing on the right, but no lamppost has entered my view. I will turn right again to sweep further across that yard where such a post is most likely to stand.", + "A tall dark lamppost with a lantern head is now visible on the right side of my view, standing in the grass just beyond the porch railing. I will turn right once more to bring that post nearer the center of my heading before moving toward it.", + "The lamppost is now framed ahead of me across the lawn, roughly in line with my heading and clear of the porch posts. I will walk forward to close the distance toward it.", + "The lamppost now appears noticeably larger and closer, rising from the grass slightly right of my path with open lawn in between. I will step forward again to keep reducing the remaining distance to it.", + "The lamppost is very close now, its bare pole filling the right of center while its lantern is above my view. I will turn right to put my heading directly onto the post so a last short step should bring me right beside it.", + "The lamppost stands as a tall dark pole just left of my center view, close but still a couple of paces ahead across the grass strip. I will step forward to close that remaining gap so the post should end up directly beside me.", + "The lamppost fills the near left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002995_y001032_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002995_y001032_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd60e48363cf2ace717351707819715746eccad --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002995_y001032_z000468_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the leftmost lit lamp.", + "Type": 2, + "Start_Pose": [ + 2995.022, + 1032.421, + 468.15, + 0.0, + 82.319, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2995.022, + 1032.421, + 468.15, + 0.0, + 82.319, + -0.0 + ], + [ + 2995.022, + 1032.421, + 468.15, + 0.0, + 57.319, + -0.0 + ], + [ + 3062.981, + 1138.355, + 468.15, + 0.0, + 57.319, + -0.0 + ], + [ + 3130.94, + 1244.29, + 468.15, + 0.0, + 57.319, + -0.0 + ], + [ + 3130.94, + 1244.29, + 468.15, + 0.0, + 32.319, + -0.0 + ], + [ + 3237.301, + 1311.578, + 468.15, + 0.0, + 32.319, + -0.0 + ], + [ + 3343.663, + 1378.866, + 468.15, + 0.0, + 32.319, + -0.0 + ], + [ + 3343.663, + 1378.866, + 468.15, + 0.0, + 57.319, + -0.0 + ], + [ + 3411.622, + 1484.8, + 468.15, + 0.0, + 57.319, + -0.0 + ], + [ + 3462.316, + 1549.239, + 468.15, + 0.0, + 57.319, + -0.0 + ], + [ + 3462.316, + 1549.239, + 468.15, + 0.0, + 57.319, + -0.0 + ] + ], + "Rationale": [ + "Three lamps are lit: two matching table lamps on the nightstands flanking the bed, and further left a tall standing floor lamp beside the desk alcove, which is the leftmost one and my target. It sits near the left edge of my view, so a left turn should bring that floor lamp and its alcove toward the center of my heading.", + "The desk alcove with the tall standing floor lamp now lies ahead and slightly left, with open carpet between me and it. I will walk forward to close the distance across this clear floor.", + "The floor lamp by the desk has grown larger and stays ahead on my left, and nothing blocks the carpet in between. Another step forward should keep shrinking the gap before I fine tune my heading.", + "The standing floor lamp beside the desk has drifted toward the left half of my view as I advanced, while the bed and its nightstand now fill the right. Turning left should put that floor lamp and the desk area back in front of me.", + "The desk, chair and the lit standing lamp are now framed ahead of me with open carpet leading in. I will step forward to continue closing on that lamp.", + "The lit standing lamp is clearly larger now, just right of the desk and near the potted plant, and the floor in front is clear. Another forward step should bring me close enough to stand beside it.", + "Closing in has pushed the lit standing lamp toward the right side of my view, with the doorway and dresser now taking the left. A right turn should center that lamp so my remaining steps go straight at it.", + "The lit standing lamp is centered directly ahead beside the desk, with only a short stretch of carpet left. I will walk forward to finish arriving at it.", + "The glowing shade of the standing lamp now fills much of my view, with the desk edge close on my left and the plant brushing the right. Only a short gap of carpet remains, so I will take one more step to stand right at its base.", + "The lit standing lamp beside the desk is directly in front of me, its shade filling my view at arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002996_y001377_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002996_y001377_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..955dad96bf99678b7090b67a57bf6c245ad3ac4c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002996_y001377_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Find the area and go to the fridge.", + "Type": 1, + "Start_Pose": [ + 2996.155, + 1376.572, + 168.15, + 0.0, + 99.551, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2996.155, + 1376.572, + 168.15, + 0.0, + 99.551, + -0.0 + ], + [ + 2996.155, + 1376.572, + 168.15, + 0.0, + 74.551, + -0.0 + ], + [ + 2996.155, + 1376.572, + 168.15, + 0.0, + 49.551, + -0.0 + ], + [ + 3019.385, + 1467.854, + 168.15, + 0.0, + 49.551, + -0.0 + ], + [ + 3019.385, + 1467.854, + 168.15, + 0.0, + 24.551, + -0.0 + ], + [ + 3126.896, + 1513.104, + 174.356, + 0.0, + 24.551, + -0.0 + ], + [ + 3126.896, + 1513.104, + 174.356, + 0.0, + -0.449, + 0.0 + ], + [ + 3252.752, + 1512.118, + 173.248, + 0.0, + -0.449, + 0.0 + ], + [ + 3378.607, + 1511.132, + 168.15, + 0.0, + -0.449, + 0.0 + ], + [ + 3378.607, + 1511.132, + 168.15, + 0.0, + 24.551, + -0.0 + ], + [ + 3469.064, + 1515.932, + 168.15, + 0.0, + 24.551, + -0.0 + ], + [ + 3469.064, + 1515.932, + 168.15, + 0.0, + 24.551, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a narrow corner with an upper glass cabinet, a base cabinet with a small microwave on it, and blank wall beside a curtained window, so no fridge is in view. The microwave hints that a kitchen area may be nearby, so I will turn left to begin a steady scan of the room for the appliance or a wider opening.", + "Turning left has opened up a tiled fireplace with a mantel, and beyond it I can sense more room space, but there is still no fridge in sight. I will keep rotating in the same left direction to reveal what lies past the fireplace wall.", + "The continued turn has revealed a bright kitchen area on the left with rows of white cabinets, a counter run, and a range under a hood, which is a strong cue that the fridge belongs to that area. I will step forward past the fireplace to close distance toward that kitchen space.", + "After advancing, the tiled fireplace mass now fills the center of my view and the kitchen has slid to the left edge. I will turn left to put the kitchen opening back in front of me and keep a clear line of travel.", + "The kitchen is now clearly ahead on my left, with an island, pendant lights, a counter run and a tall white cabinet unit, and the floor between me and it is unobstructed. I will walk forward to enter that kitchen area where the fridge is most likely to stand.", + "I have come close enough that the fireplace mantel now crowds the right half of my view while the kitchen aisle sits off to my left. Turning left should square me with that aisle so I can walk straight down it.", + "I am now facing down the length of the kitchen, with the island on the left, counters and a range along the far wall, and tall white cabinetry on the right. The aisle is clear, so I will walk forward to get among the appliances and find the fridge.", + "I am inside the kitchen now, with the island counter close on my left and a tall white unit rising along the right side of the aisle, though I cannot yet read a fridge door or handles. I will continue forward along the aisle to bring that tall unit close enough to identify.", + "I am well inside the kitchen now, and the tall white fridge stands against the right-hand run of cabinets, close to the edge of my view. Turning right should bring that appliance toward the center of my heading so I can walk straight at it.", + "The refrigerator now sits directly ahead of me along the right-hand cabinet run, with clear floor between us. I will step forward to close that remaining gap and stand beside the fridge.", + "The refrigerator with its metal handles is right beside me, filling the near right of my view. The task is complete, so I stop here at the fridge." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003004_y001102_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003004_y001102_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c980b6412b602602723cd4c8106ae05b4b4e32f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003004_y001102_z000468_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the chair near the desk.", + "Type": 0, + "Start_Pose": [ + 3004.455, + 1102.361, + 468.15, + 0.0, + 52.559, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3004.455, + 1102.361, + 468.15, + 0.0, + 52.559, + -0.0 + ], + [ + 3080.97, + 1202.29, + 468.15, + 0.0, + 52.559, + -0.0 + ], + [ + 3080.97, + 1202.29, + 468.15, + 0.0, + 27.559, + -0.0 + ], + [ + 3192.549, + 1260.521, + 468.15, + 0.0, + 27.559, + -0.0 + ], + [ + 3304.127, + 1318.751, + 468.15, + 0.0, + 27.559, + -0.0 + ], + [ + 3304.127, + 1318.751, + 468.15, + 0.0, + 52.559, + -0.0 + ], + [ + 3380.642, + 1418.68, + 468.15, + 0.0, + 52.559, + -0.0 + ], + [ + 3380.642, + 1418.68, + 468.15, + 0.0, + 27.559, + -0.0 + ], + [ + 3492.221, + 1476.91, + 468.15, + 0.0, + 27.559, + -0.0 + ], + [ + 3571.357, + 1521.772, + 468.15, + 0.0, + 27.559, + -0.0 + ], + [ + 3571.357, + 1521.772, + 468.15, + 0.0, + 27.559, + -0.0 + ] + ], + "Rationale": [ + "From the bedroom I can see a desk with a dark office chair tucked into the alcove ahead and to my left, past the bed and the potted plant. The chair is still far off, so I will step forward across the open carpet to begin closing that distance before refining my heading.", + "After advancing, the desk and its chair sit noticeably left of where I am facing, while the bed fills the right side of my view. I will turn left to bring the alcove with the chair toward the center of my view so a straight walk leads to it.", + "The desk area with the chair is now roughly ahead of me on the right side of the alcove, with clear carpet in between. I will move forward to shorten the gap toward the chair.", + "The chair by the desk is clearly visible ahead and details like the floor lamp and small picture are getting larger, so I am closing in correctly. I will take another step forward to keep reducing the distance to the chair.", + "Straight ahead of me is the low partition wall and the dark doorway beside the chair's corner, and the desk edge juts into my line of travel. I will turn right toward the open stretch of carpet in front of the desk, which should give me clearance to step into the alcove, with the chair staying near the left of my view.", + "The open carpet in front of the desk is now directly ahead of me, with the desk and lamp on the right and the chair at the left of my view. I will move forward into that clear space to draw level with the desk and its chair.", + "I am now close beside the desk, but the chair has slipped to the far left edge of my view while the lamp and plant dominate the right. I will turn left to place the chair squarely in front of me before taking any further steps.", + "The dark office chair is now centered ahead of me at the desk, with clear carpet remaining between us. I will step forward to close that last bit of distance and stand right at the chair.", + "The desk chair now fills the left side of my view with the desk surface close on my right, so only a short gap remains. I will step forward once more to close that last bit of distance and stand right beside the chair.", + "The desk chair stands directly in front of me, within arm's reach beside the desk top. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003004_y001102_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003004_y001102_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3b8aa2d4e93e44ad5e5adfedb20350c0673ead0b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003004_y001102_z000468_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for the office desk and go to it.", + "Type": 1, + "Start_Pose": [ + 3004.455, + 1102.361, + 468.15, + 0.0, + -66.961, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3004.455, + 1102.361, + 468.15, + 0.0, + -66.961, + 0.0 + ], + [ + 3004.455, + 1102.361, + 468.15, + 0.0, + -41.961, + 0.0 + ], + [ + 3004.455, + 1102.361, + 468.15, + 0.0, + -16.961, + 0.0 + ], + [ + 3004.455, + 1102.361, + 468.15, + 0.0, + 8.039, + -0.0 + ], + [ + 3129.077, + 1119.962, + 468.15, + 0.0, + 8.039, + -0.0 + ], + [ + 3129.077, + 1119.962, + 468.15, + 0.0, + 33.039, + -0.0 + ], + [ + 3234.585, + 1188.582, + 468.15, + 0.0, + 33.039, + -0.0 + ], + [ + 3340.092, + 1257.201, + 468.15, + 0.0, + 33.039, + -0.0 + ], + [ + 3340.092, + 1257.201, + 468.15, + 0.0, + 58.039, + -0.0 + ], + [ + 3406.715, + 1363.981, + 468.15, + 0.0, + 58.039, + -0.0 + ], + [ + 3406.715, + 1363.981, + 468.15, + 0.0, + 33.039, + -0.0 + ], + [ + 3512.222, + 1432.601, + 468.15, + 0.0, + 33.039, + -0.0 + ], + [ + 3584.931, + 1485.756, + 468.15, + 0.0, + 33.039, + -0.0 + ], + [ + 3584.931, + 1485.756, + 468.15, + 0.0, + 33.039, + -0.0 + ] + ], + "Rationale": [ + "I am facing a fireplace and a blank wall, with no office desk anywhere in this narrow view. The only opening I can see is the archway edge at my right, so I will turn right to begin a consistent scan toward that more open space.", + "The fireplace has swung to my left and a larger carpeted room with doorways is opening up to the right, but still no desk is in sight. I will keep turning right in the same direction to bring more of that room into view.", + "The wide open room, its closed doors and a tall cabinet are now in front of me, yet nothing resembling an office desk has appeared. Continuing the same rightward scan should reveal the far right portion of this room, which is still hidden behind the wall corner.", + "In the far right corner of this room I can now make out a desk with an office chair and a floor lamp beside it, which matches my target. Rather than continue scanning, I will commit to it and walk forward across the open carpet to close the distance.", + "After advancing, the desk and its chair sit well off to my right while my heading points into the empty middle of the room. I will turn right to put the desk closer to the center of my view before moving again.", + "The desk with its chair and lamp is now more centrally ahead of me, past the low partition on the left. The carpet in front is clear, so I will step forward to shorten the remaining distance to it.", + "The desk, chair and floor lamp have grown noticeably larger, confirming I am closing on the office corner. Nothing blocks the floor ahead, so I will keep walking forward toward the desk.", + "The desk is close now, but the low partition railing crowds the left of my path and my heading is aimed slightly past the open floor in front of the desk. I will turn right to pick up the clearer stretch of carpet beside the plant, which should give me a straight lane in toward the desk.", + "The office desk with its rolling chair is now clearly in view ahead against the far wall, beside the floor lamp and potted plant. The carpet between me and it is open, so I will walk forward to close that distance.", + "I am close to the desk, but my heading is drifting toward the lamp and plant on the right rather than the desk itself. Turning left should place the desk and the open floor in front of its chair squarely ahead of me.", + "With the turn done, the desk and its chair now sit directly ahead in the corner, with clear carpet in between. I will step forward to reach the desk.", + "The desk surface, its cabinet base, and the chair fill much of my view now, so only a short gap remains. I will take one more step forward to stand right at the desk.", + "The office desk top and its chair are directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003032_y-001124_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003032_y-001124_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e698e7dd46b795216ed30a8a8d6144284090807 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003032_y-001124_z000169_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the potted plant on the table first, then go to the bookshelf.", + "Type": 3, + "Start_Pose": [ + 3032.123, + -1123.623, + 169.418, + 0.0, + 57.764, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3032.123, + -1123.623, + 169.418, + 0.0, + 57.764, + -0.0 + ], + [ + 3098.335, + -1040.196, + 169.418, + 0.0, + 57.764, + -0.0 + ], + [ + 3156.367, + -1039.279, + 169.418, + 0.0, + 57.764, + -0.0 + ], + [ + 3229.245, + -951.658, + 169.418, + 0.0, + 57.764, + -0.0 + ], + [ + 3296.379, + -846.14, + 168.15, + 0.0, + 57.764, + -0.0 + ], + [ + 3296.379, + -846.14, + 168.15, + 0.0, + 57.764, + -0.0 + ], + [ + 3296.379, + -846.14, + 168.15, + 0.0, + 32.764, + -0.0 + ], + [ + 3296.379, + -846.14, + 168.15, + 0.0, + 7.764, + -0.0 + ], + [ + 3420.788, + -840.891, + 168.15, + 0.0, + 7.764, + -0.0 + ], + [ + 3545.493, + -823.888, + 168.15, + 0.0, + 7.764, + -0.0 + ], + [ + 3670.198, + -806.886, + 168.15, + 0.0, + 7.764, + -0.0 + ], + [ + 3794.903, + -789.883, + 168.15, + 0.0, + 7.764, + -0.0 + ], + [ + 3870.55, + -774.067, + 168.15, + 0.0, + 7.764, + -0.0 + ], + [ + 3870.55, + -774.067, + 168.15, + 0.0, + 7.764, + -0.0 + ] + ], + "Rationale": [ + "From the doorway of this living room I can already pick out the leafy potted plant sitting on the narrow console table ahead against the pale wall. Nothing blocks the open floor between me and it, so I will walk straight forward to close that gap.", + "The console table and its potted plant now sit slightly right of center and appear noticeably larger, so my heading is good. The floor ahead is still clear, so I will keep walking forward toward the plant.", + "The table with the potted plant is closer and centered, its shelf and the small radio beside the pot now clearly resolved. I am still several paces short of it, so another step forward should bring me right up to the plant.", + "The potted plant and its table now fill much of the lower right of my view, so only a short distance remains. I will step forward once more to stand directly at the plant.", + "The broad green leaves of the potted plant and the table edge with its radio are right against me, filling my view at arm's length. I have reached the potted plant on the table. I mark reaching it before setting off for the bookshelf in the room off to my left.", + "Standing this close, the wall and the plant block most of my view, while the open room lies past the corner to my left. I will turn left to swing my heading off the wall and bring that adjoining space with its shelves of books into view.", + "The turn opened up the neighboring room, and I can now see tall shelves packed with books beside the fireplace on the left side of my view. A wall column still cuts across my path, so I will turn left again to put the bookshelf squarely ahead.", + "The bookshelf full of books beside the fireplace is now centered ahead of me with clear floor leading toward it. With my heading settled, I will walk forward to close the distance to it.", + "The tall built-in bookshelf full of books sits ahead of me beside the fireplace, still several strides away across the open floor. My heading already lines up with it and nothing blocks the wooden floor between us, so I will keep walking forward to close the gap.", + "The bookshelf now sits near the middle of my view and its shelves and spines are clearly resolved, but I am still a few paces short of it. My path stays clear of the fireplace on the left and the cabinet on the right, so I will step forward again.", + "The shelving unit now fills much of my view, with individual books and the wall sconce beside it plainly visible. I am close but not yet standing at it, so I will continue walking straight ahead to finish the approach.", + "Rows of book spines and the cabinet base fill my view, so I am nearly at the shelves. One short step forward should bring me right up against the bookcase.", + "I am standing directly at the bookshelf, with its shelves and book spines an arm's length in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003038_y001550_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003038_y001550_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f300c08a32be433610af4d5588d4b515fee31f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003038_y001550_z000168_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go towards the standing lamp near the archway.", + "Type": 0, + "Start_Pose": [ + 3037.936, + 1550.217, + 168.15, + 0.0, + -39.196, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3037.936, + 1550.217, + 168.15, + 0.0, + -39.196, + 0.0 + ], + [ + 3037.936, + 1550.217, + 168.15, + 0.0, + -14.196, + 0.0 + ], + [ + 3137.697, + 1504.361, + 168.304, + 0.0, + -14.196, + 0.0 + ], + [ + 3241.782, + 1508.911, + 171.346, + 0.0, + -14.196, + 0.0 + ], + [ + 3241.782, + 1508.911, + 171.346, + 0.0, + -39.196, + 0.0 + ], + [ + 3338.258, + 1474.412, + 168.153, + 0.0, + -39.196, + 0.0 + ], + [ + 3338.258, + 1474.412, + 168.153, + 0.0, + -64.196, + 0.0 + ], + [ + 3338.258, + 1474.412, + 168.153, + 0.0, + -89.196, + 0.0 + ], + [ + 3342.772, + 1362.381, + 168.15, + 0.0, + -89.196, + 0.0 + ], + [ + 3342.772, + 1362.381, + 168.15, + 0.0, + -89.196, + 0.0 + ] + ], + "Rationale": [ + "I can see the tall standing lamp glowing on the far side of the sofa, close to the arched opening on the left wall, but the sectional and the ottoman sit directly across my straight path. Turning right points me at the open wood floor beside the kitchen, which should give me a clear lane to travel before I swing back toward the lamp and the archway.", + "From this heading the floor ahead is clear all the way past the kitchen island, with only the fireplace mantel to my right. I will move forward along this open lane to get past the seating group while keeping the lamp and archway off to my left.", + "The kitchen island is still ahead and the lamp has slid to the left edge of my view, so I have not yet gone deep enough into the open area to turn cleanly toward it. Another step forward should carry me past the corner of the sofa and give me room to reorient toward the archway.", + "I am now in the open floor beside the island, and the lamp has dropped out of my forward view to the left. Turning left should bring the lit lamp and the arched opening back into the center part of my view so I can head toward them.", + "The lamp is back in view on the left with the archway just beyond it, and the floor between me and that area is clear of furniture. I will step forward to close distance before making my final heading adjustment.", + "The lamp and the arched opening still sit well to my left while my heading points along the kitchen counters. A left turn should rotate the lamp toward the middle of my view so my approach is aimed straight at it.", + "The lamp is now large on my left with the archway and its runner rug just to the right of it, so I am still a little short of a straight-on heading. One more left turn should place the lamp near the center of my view for a direct final approach.", + "The glowing lamp now stands near the center of my view with the archway directly behind it and clear floor in between. I will move forward to close the remaining gap and stand right beside the lamp.", + "The standing lamp fills my view at arm's length, with the archway just beyond it. The task is complete, so I stop here rather than crowd it further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003038_y001550_z000168_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003038_y001550_z000168_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39e2e4fda82aa60c08e6c5ef10e4b425c8ca03f0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003038_y001550_z000168_t5_a_p/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Lift the ceramic vase near the standing lamp.", + "Type": 5, + "Start_Pose": [ + 3037.936, + 1550.217, + 168.15, + 0, + -39.196, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3418.767, + 1313.181, + 91.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3037.936, + 1550.217, + 168.15, + 0, + -39.196, + 0 + ], + [ + 3135.467, + 1484.315, + 169.088, + 0.0, + -39.196, + 0.0 + ], + [ + 3135.467, + 1484.315, + 169.088, + 0.0, + -64.196, + 0.0 + ], + [ + 3159.959, + 1470.856, + 169.088, + 0.0, + -64.196, + 0.0 + ], + [ + 3159.959, + 1470.856, + 169.088, + 0.0, + -64.196, + 0.0 + ], + [ + 3159.959, + 1470.856, + 169.088, + 0.0, + -64.196, + 0.0 + ], + [ + 3116.882, + 1513.138, + 174.375, + 0.0, + -64.196, + 0.0 + ], + [ + 3064.381, + 1563.054, + 168.15, + 0.0, + -64.196, + 0.0 + ], + [ + 3064.381, + 1563.054, + 168.15, + 0.0, + -39.196, + 0.0 + ], + [ + 3064.381, + 1563.054, + 168.15, + 0.0, + -14.196, + 0.0 + ], + [ + 3099.407, + 1516.433, + 171.187, + 0.0, + -14.196, + 0.0 + ], + [ + 3203.9, + 1508.994, + 171.173, + 0.0, + -14.196, + 0.0 + ], + [ + 3324.969, + 1499.938, + 168.136, + 0.0, + -14.196, + 0.0 + ], + [ + 3324.969, + 1499.938, + 168.136, + 0.0, + -39.196, + 0.0 + ], + [ + 3324.969, + 1499.938, + 168.136, + 0.0, + -64.196, + 0.0 + ], + [ + 3379.755, + 1386.628, + 168.136, + 0.0, + -64.196, + 0.0 + ], + [ + 3379.755, + 1386.628, + 168.136, + 0.0, + -64.196, + 0.0 + ], + [ + 3379.755, + 1386.628, + 168.136, + 0.0, + -64.196, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3418.767, + 1313.181, + 91.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3398.714, + 1396.473, + 138.257, + -28.202, + -14.052, + 1.862 + ], + [ + 3398.714, + 1396.473, + 138.257, + -28.202, + -14.052, + 1.862 + ] + ], + "PD_Dist_2D": [ + 448.6, + 331.0, + 331.0, + 303.1, + 303.1, + 303.1, + 362.1, + 433.6, + 433.6, + 433.6, + 378.6, + 290.7, + 209.0, + 209.0, + 209.0, + 83.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall ceramic vase with red flowers stands beside the lit standing lamp well across the room, past the sectional sofa. It is far too distant to reach or handle from here, so I walk straight forward to close that gap and get a clearer read on the space around it.", + "From here the long sectional sofa sits squarely between me and the lamp corner, so a straight walk would run into its back and cushions. I turn left to face the more open floor by the archway, looking for a route that is not blocked by furniture.", + "The open stretch of floor beside the archway lies ahead, with the sofa filling the lower part of my view. I step forward to work along this side of the room and gain ground toward the lamp corner without climbing over the seating.", + "My last step barely changed the scene, with the sofa's back and armrest still pressed right against the bottom of my view. I try one more forward step to see whether I can still squeeze past this edge of the seating toward the open floor.", + "That forward step produced no change at all, so something solid is holding me in place right here. I look down to see exactly what is against my body and how the sofa and rug edge sit relative to me before choosing a different way around.", + "My last forward push produced no movement at all, and with my gaze lowered I can see the sofa back and cushions pressed directly against me. Nothing can pass through that furniture, so I will step back to break contact and open clearance around me.", + "I am free of the sofa now, but its long back still stretches across the whole space ahead of me, so this heading remains unusable. I will back up once more to gain enough room to swing toward the open floor beside the kitchen without clipping the couch.", + "From this pulled back position the sofa and its chaise still block everything straight ahead, while the floor toward the kitchen side on my right is clear. I will turn right to abandon that blocked route and start facing the open lane.", + "This heading still points across the couch and ottoman rather than down the open floor. I will turn right again to square onto the clear passage running past the seating toward the kitchen, where the tall ceramic vase stands beside the lit floor lamp.", + "The lane ahead is now unobstructed, with the fireplace wall on my right and clear flooring stretching toward the kitchen. The floral ceramic vase and the lit lamp are visible off to my left, so walking forward here should close the gap without touching the furniture that stopped me before.", + "The tall floral ceramic vase stands on the floor beside the lit standing lamp to my left, still well out of reach. The lane between the seating and the fireplace wall ahead of me is open, so walking forward along it should close the gap without brushing the furniture. I will step forward again.", + "The vase has grown noticeably larger at my left as I advance, confirming this heading keeps shrinking the distance. The floor between me and the kitchen island is still unobstructed, so another forward step is safe. I will keep walking before committing to a turn toward the vase.", + "My forward walking has carried me level with the kitchen island, and the vase has slid out of view past my left shoulder. Continuing straight would only take me deeper into the kitchen, away from it. I will turn left to swing the vase and its lamp back into the front of my view.", + "The floral vase has reappeared, but it sits at the far left edge of my view rather than in front of me. A second turn in the same direction should center it so I can walk straight at it. I will turn left again.", + "The ceramic vase now stands squarely ahead of me with the standing lamp glowing just beyond it, so my heading is right. It is still a couple of paces off, too far for my hands. I will walk forward to bring it within reach for a grasp.", + "The tall ceramic vase now fills the lower center of my view, close enough that its rim is within arm's reach beside the standing lamp. My hands are still empty and the vase remains upright on the floor, so this is the moment to close on it. I will attempt the grasp and lift it.", + "The ceramic vase is now held in my hands, lifted clear of the floor. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003044_y-001014_z000169_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003044_y-001014_z000169_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..236bf38b57e4d0ccd6430169dd94697f329553ae --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003044_y-001014_z000169_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the door on the left.", + "Type": 2, + "Start_Pose": [ + 3044.423, + -1014.429, + 169.418, + 0.0, + -23.742, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3044.423, + -1014.429, + 169.418, + 0.0, + -23.742, + 0.0 + ], + [ + 3144.209, + -1072.971, + 169.418, + 0.0, + -23.742, + 0.0 + ], + [ + 3144.209, + -1072.971, + 169.418, + 0.0, + -48.742, + 0.0 + ], + [ + 3227.207, + -1167.585, + 168.15, + 0.0, + -48.742, + 0.0 + ], + [ + 3313.188, + -1245.452, + 168.15, + 0.0, + -48.742, + 0.0 + ], + [ + 3398.191, + -1298.324, + 168.15, + 0.0, + -48.742, + 0.0 + ], + [ + 3398.191, + -1298.324, + 168.15, + 0.0, + -48.742, + 0.0 + ] + ], + "Rationale": [ + "The only door in sight is the white paneled one set into the wall on my left, framed by narrow windows, while the rest of the room opens toward the bookshelves and fireplace on my right. It is still well down the room, so I will walk forward to close that distance before swinging toward it.", + "I am now much closer, and the paneled door sits well off to the left edge of my view rather than ahead of me. Turning left should bring it into the center of my heading so I can walk straight at it.", + "The paneled door with its flanking windows is now centered in front of me, so my heading is right. I will step forward to cut the remaining stretch of floor between us.", + "The door now fills a large part of my view and its frame and threshold are clearly visible slightly ahead and left. Another step forward should bring me close enough to stand right at it.", + "The brass lever handle and the door panels are close enough to read in detail, but a short gap of floor remains. I will take one more step to finish arriving at the door.", + "The paneled door and its frame fill my view at arm's length. I have reached it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003045_y-001032_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003045_y-001032_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e335b5b53ebf80087b66de0baa7aec88bff176b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003045_y-001032_z000169_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door on the left side of the living room.", + "Type": 4, + "Start_Pose": [ + 3044.572, + -1032.207, + 169.418, + 0.0, + -21.698, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3044.572, + -1032.207, + 169.418, + 0.0, + -21.698, + 0.0 + ], + [ + 3161.513, + -1078.739, + 169.418, + 0.0, + -21.698, + 0.0 + ], + [ + 3278.455, + -1125.271, + 169.418, + 0.0, + -21.698, + 0.0 + ], + [ + 3278.455, + -1125.271, + 169.418, + 0.0, + -46.698, + 0.0 + ], + [ + 3364.774, + -1216.865, + 168.15, + 0.0, + -46.698, + 0.0 + ], + [ + 3364.774, + -1216.865, + 168.15, + 0.0, + -71.698, + 0.0 + ], + [ + 3364.774, + -1216.865, + 168.15, + 0.0, + -71.698, + 0.0 + ], + [ + 3401.996, + -1298.375, + 168.15, + 0.0, + -71.698, + 0.0 + ], + [ + 3401.996, + -1298.375, + 168.15, + 0.0, + -71.698, + 0.0 + ], + [ + 3401.996, + -1298.375, + 168.15, + 0.0, + -71.698, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the entry of the living room I can see the white paneled door set into the wall on the left side, past the near column. It is still far away, so I will move forward across the open floor to reduce that distance before working on alignment.", + "The paneled door and its side window are now clearly larger on my left, so my previous forward step made real progress along the room. I will continue forward since I am still too far from the door to reach its handle.", + "The target door sits well off to my left edge while my heading still points down the room toward the fireplace and bookshelves. I will turn left so the door face comes into the center of my view for a straight approach.", + "The turn brought the paneled door and its brass handle into clear view slightly left of center, confirming it as the target. I am still a couple of paces short of arm's reach, so I will move forward to close in on the handle.", + "Moving in has left me nearly alongside the door, with its panels stretching across the left of my view and the handle out of sight beyond that edge. I will turn left to square up on the door face so the latch is centered in front of me before I try to open it.", + "The white paneled door now fills my view with its brass lever handle clearly visible slightly left of center, so I am squarely facing the target. I will attempt to open it from here, which should swing the panel aside if I am close enough for the handle to be within reach.", + "My attempt to open the door just now left it shut, with the same panel and brass lever still in front of me, so my standing distance was likely too great for the handle. I will step forward to close that gap and put the handle within interaction range.", + "The panel detail now fills my whole view at very close range, so I am pressed right up against the door after the earlier attempt failed from farther back. I will try opening it again from this tighter position, where the latch should be within reach.", + "I see the door swung inward with the yard and patio open beyond its edge. My task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003087_y000015_z000165_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003087_y000015_z000165_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9297c426d22546170b4bc0d7af42f594d03d667 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003087_y000015_z000165_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the area and go to the tall street lamp.", + "Type": 1, + "Start_Pose": [ + 3086.888, + 15.378, + 165.111, + 0.0, + -39.268, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3086.888, + 15.378, + 165.111, + 0.0, + -39.268, + 0.0 + ], + [ + 3086.888, + 15.378, + 165.111, + 0.0, + -64.268, + 0.0 + ], + [ + 3086.888, + 15.378, + 165.111, + 0.0, + -89.268, + 0.0 + ], + [ + 3086.888, + 15.378, + 165.111, + 0.0, + -114.268, + 0.0 + ], + [ + 3086.888, + 15.378, + 165.111, + 0.0, + -139.268, + 0.0 + ], + [ + 3086.888, + 15.378, + 165.111, + 0.0, + -164.268, + 0.0 + ], + [ + 3086.888, + 15.378, + 165.111, + 0.0, + 170.732, + -0.0 + ], + [ + 2962.672, + 35.648, + 165.111, + 0.0, + 170.732, + -0.0 + ], + [ + 2838.456, + 55.918, + 163.532, + 0.0, + 170.732, + -0.0 + ], + [ + 2838.456, + 55.918, + 163.532, + 0.0, + 145.732, + -0.0 + ], + [ + 2733.818, + 125.133, + 142.074, + 0.0, + 145.732, + -0.0 + ], + [ + 2733.818, + 125.133, + 142.074, + 0.0, + 145.732, + -0.0 + ] + ], + "Rationale": [ + "I am standing on a covered porch facing a blank clapboard wall with only a small wall lantern and a doorway beside me, so no tall street lamp is in sight. I will turn left to begin a consistent scan toward the open side of the porch where the yard and street should appear.", + "Turning has opened up the porch deck with chairs and a planter, and a sliver of fence and a neighboring roof is now visible past the porch edge. There is still no tall street lamp here, so I will keep rotating left in the same direction toward that opening.", + "The porch railing, hanging baskets and a flag are now on my left, with greenery and neighboring houses beyond, but the porch roof and posts still block most of the street. I will continue the same leftward scan to bring the street frontage fully into view where a tall lamp would likely stand.", + "More of the front yard, flowers and the street beyond the railing are opening up on my left, which is a strong cue that street furniture sits along that frontage. I will keep turning left to face the sidewalk and street directly.", + "I can now see the walkway leading out to the tree lined street, with a dark lamp post standing near the left edge of the yard. I will turn left once more to center that lamp post and the walkway ahead of me.", + "The straight walkway to the street is nearly centered and a tall lamp post rises just left of it beyond the railing. One more small left turn should line my heading up with that walkway so I can walk out toward the lamp.", + "I am now squarely facing the walkway that leads off the porch toward the street, with the tall lamp post standing beside it slightly to my left. I will walk forward along this path to close distance with the lamp.", + "I have cleared the porch and the tall street lamp is clearly ahead on the left side of the sidewalk, its dark pole and lantern head well above the fence line. I will keep walking forward along the sidewalk to get close to its base.", + "The tall street lamp's dark pole now stands very close along the left edge of my view, partly cut off by the frame. I will turn left to bring the whole lamp into the center of my view so I can judge its base and my remaining distance to it.", + "The tall street lamp is now centered in my view with its pole running from the grass strip up past the tree canopy, so my heading is on it. It still sits a short distance ahead along the walkway edge, so I will step forward to close that gap and stand at its base.", + "The tall street lamp's pole fills the center of my view directly in front of me, within arm's reach. The task is complete, so I stop here at the lamp." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003182_y-001183_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003182_y-001183_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..643f71fe859cf67b5a5f207555f1881a548fba4d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003182_y-001183_z000168_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head to the right-side bookshelf.", + "Type": 2, + "Start_Pose": [ + 3181.869, + -1183.29, + 168.15, + 0.0, + 8.484, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3181.869, + -1183.29, + 168.15, + 0.0, + 8.484, + -0.0 + ], + [ + 3181.869, + -1183.29, + 168.15, + 0.0, + 33.484, + -0.0 + ], + [ + 3286.84, + -1113.853, + 168.15, + 0.0, + 33.484, + -0.0 + ], + [ + 3391.812, + -1044.416, + 168.15, + 0.0, + 33.484, + -0.0 + ], + [ + 3496.783, + -974.979, + 168.15, + 0.0, + 33.484, + -0.0 + ], + [ + 3496.783, + -974.979, + 168.15, + 0.0, + 58.484, + -0.0 + ], + [ + 3562.574, + -867.685, + 168.15, + 0.0, + 58.484, + -0.0 + ], + [ + 3562.574, + -867.685, + 168.15, + 0.0, + 33.484, + -0.0 + ], + [ + 3562.574, + -867.685, + 168.15, + 0.0, + 8.484, + -0.0 + ], + [ + 3687.056, + -849.117, + 168.15, + 0.0, + 8.484, + -0.0 + ], + [ + 3811.538, + -830.548, + 168.15, + 0.0, + 8.484, + -0.0 + ], + [ + 3870.518, + -814.368, + 168.15, + 0.0, + 8.484, + -0.0 + ], + [ + 3870.518, + -814.368, + 168.15, + 0.0, + 8.484, + -0.0 + ] + ], + "Rationale": [ + "Two matching bookcases flank the fireplace on the far wall, and my target is the one standing to the fireplace's right. My heading currently points at the couch in the middle of the room, so I turn right to line up with the open floor leading toward that bookcase.", + "The bookcase to the right of the fireplace now sits ahead on the left side of my view with clear bare floor between us. I walk forward to cut down that distance before worrying about the final facing.", + "The shelves beside the fireplace have grown noticeably larger, confirming I am closing on the right-hand bookcase. The floor ahead is still open, so I keep walking to shorten the remaining gap.", + "The bookcase right of the fireplace is clearly resolved now, individual books readable on its shelves, but I am still several paces short of it. I advance again along the open floor toward that side of the room.", + "The bookcase beside the fireplace fills the left of my view, but the sofa sits in the foreground between me and its front. I turn right toward the open floor along the runner so I can come up to the shelves from clear ground.", + "This heading gives me an unobstructed lane past the seating, with the tall cabinet and the runner ahead. I step forward to draw level with the wall that carries the bookcase before swinging back toward it.", + "I am past the furniture now, and the bookcase I want has slid to the very edge of my view on the left while I face the cabinet and archway. I turn left to bring those shelves back in front of me.", + "The bookcase is back in view but sits off to my left and is still seen at an angle. I turn left once more to square my heading with the front of those shelves for a straight walk in.", + "The shelves right of the fireplace now sit square in front of me with clear floor between us and nothing of the seating in the way. I walk straight in to close the remaining distance.", + "The bookcase now dominates my view, its cabinet base and lower shelves close enough to read individual spines. Still a pace or two of bare floor remains, so I keep advancing.", + "Only the shelving fills my view now, so I am nearly against it. One short step should bring me right up to the front of these shelves.", + "The shelves of the bookcase beside the fireplace fill my view at arm's length. I have arrived, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003223_y001008_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003223_y001008_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15ee02d724b163d5d3066cf95538c7f265204e50 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003223_y001008_z000468_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Find the office chair and move close to it.", + "Type": 1, + "Start_Pose": [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -158.641, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -158.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -83.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -58.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -33.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + -8.641, + 0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + 16.359, + -0.0 + ], + [ + 3223.269, + 1008.188, + 468.15, + 0.0, + 41.359, + -0.0 + ], + [ + 3317.737, + 1091.352, + 468.15, + 0.0, + 41.359, + -0.0 + ], + [ + 3317.737, + 1091.352, + 468.15, + 0.0, + 66.359, + -0.0 + ], + [ + 3368.207, + 1206.649, + 468.15, + 0.0, + 66.359, + -0.0 + ], + [ + 3418.677, + 1321.945, + 468.15, + 0.0, + 66.359, + -0.0 + ], + [ + 3469.147, + 1437.242, + 468.15, + 0.0, + 66.359, + -0.0 + ], + [ + 3469.147, + 1437.242, + 468.15, + 0.0, + 41.359, + -0.0 + ], + [ + 3563.615, + 1520.406, + 468.15, + 0.0, + 41.359, + -0.0 + ], + [ + 3563.615, + 1520.406, + 468.15, + 0.0, + 41.359, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see a fireplace mantel, a curtained window, and bare wall, with no office chair anywhere in view. I will turn right to begin a steady scan of this room in one consistent direction. Sweeping right should reveal the parts of the room currently hidden behind the mantel.", + "The mantel and a framed picture now fill most of my view, and still no office chair has appeared. I will keep rotating right in the same direction so the scan stays consistent and I do not recheck ground I have already covered. More of the room past the fireplace should come into view.", + "I am looking almost straight at the fireplace surround and the tiled hearth, which blocks any useful view of the rest of the space. Continuing to turn right is the quickest way to clear this obstruction from my line of sight. I expect wall and floor beyond the mantel to appear next.", + "I can now see the edge of the mantel with plain wall opening up to its right, so the fireplace is nearly out of my way. I will turn right again to keep my scan moving toward the unseen part of the room. If there is a doorway or passage on that side, it should come into my view.", + "A white paneled door and an arched opening onto carpeted floor have come into view, which tells me the space continues in this direction. There is still no office chair, so I will turn right once more to open up that passage and the room beyond it. That should show me whether a desk area lies through there.", + "The archway now frames a wider carpeted area with doors along the left wall, but no chair or desk is in sight yet. I will continue turning right to bring the deeper part of this open space into view. The larger room to my right seems the most promising place to find an office chair.", + "I can see a long empty room with a ceiling light and a louvered closet at the far right, and still no office chair among the visible furniture. I will keep turning right, since the room clearly extends further past that closet. Whatever furnishings sit in that corner should become visible.", + "Past the low partition wall on the right I can make out a desk with a dark high-backed chair tucked beside it in the dim corner. That looks like the office chair I am after, so I will turn right to bring it toward the center of my view before walking over. A better heading now should let me approach it directly.", + "Scanning around has brought a desk with a dark high-backed office chair into view on the far side of a low partition wall to my right. That matches the target, so instead of continuing the sweep I will walk forward into the open room to close the distance. Advancing should also give me a clearer line on the chair past the partition.", + "From here the office chair and its desk sit off to the right of my heading, with the low partition wall still cutting across the direct line toward them. I will turn right to face the open floor that leads around that partition into the desk alcove. This should put the chair on a walkable heading rather than behind the divider.", + "The desk with the office chair is now clearly in view ahead and slightly left, with open carpet between me and it. I will step forward along this heading to shorten the gap. The partition edge stays to my left, so the path ahead looks clear.", + "The office chair has grown noticeably larger in the left part of my view, confirming I am closing on it. Nothing blocks the floor between me and the desk alcove, so I will keep walking forward. Another step should bring me much nearer to the chair.", + "The office chair now fills much of the left side of my view beside the desk, so I am only a short distance away. I will take one more step forward to enter the alcove properly. This should place me close alongside the chair.", + "Moving in has pushed the office chair to the extreme left edge of my view, with mostly the desk top and wall art in front of me. I will turn left to bring the chair back toward the center of my field of view. That should give me a clean heading for a final approach step.", + "The office chair is now centered in my view beside the desk, just a step or two ahead. I will walk forward once more to stand right next to it. That should satisfy the requirement of being close to the chair.", + "The office chair's backrest is immediately beside me at the desk, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003226_y001405_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003226_y001405_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85e2454b4ad2ff30925cff931655896a8a67ee3d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003226_y001405_z000468_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Find the fireplace and go to it.", + "Type": 1, + "Start_Pose": [ + 3225.653, + 1404.64, + 468.15, + -0.05, + 121.265, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3225.653, + 1404.64, + 468.15, + -0.05, + 121.265, + -0.0 + ], + [ + 3225.653, + 1404.64, + 468.15, + -0.05, + 146.265, + -0.0 + ], + [ + 3225.653, + 1404.64, + 468.15, + -0.05, + 171.265, + -0.0 + ], + [ + 3225.653, + 1404.64, + 468.15, + -0.05, + -163.735, + -0.0 + ], + [ + 3225.653, + 1404.64, + 468.15, + -0.05, + -138.735, + -0.0 + ], + [ + 3225.653, + 1404.64, + 468.15, + -0.05, + -113.735, + -0.0 + ], + [ + 3192.004, + 1289.433, + 468.15, + -0.05, + -113.735, + -0.0 + ], + [ + 3192.004, + 1289.433, + 468.15, + -0.05, + -88.735, + -0.0 + ], + [ + 3194.783, + 1163.605, + 468.15, + -0.05, + -88.735, + -0.0 + ], + [ + 3197.561, + 1037.777, + 468.15, + -0.05, + -88.735, + -0.0 + ], + [ + 3197.561, + 1037.777, + 468.15, + -0.05, + -88.735, + -0.0 + ] + ], + "Rationale": [ + "I start facing a bed with a headboard and two nightstands, and there is no fireplace anywhere in this view. I will turn right to begin a consistent scan of the room for the fireplace or a doorway leading toward a living space.", + "The view has swung to the bed's side and a curtained window, but still no fireplace or mantel appears. I will keep turning right in the same direction to sweep the remaining walls of this room.", + "A large bright window dominates the view with a bench and open carpet beyond the bed, suggesting more open floor further around to my right. I will continue the same rightward scan to reveal that unseen part of the space.", + "Two curtained windows and empty carpet fill this view, with no hearth visible along this wall. I will keep rotating right, since the open area continues past the right edge of my view.", + "A pale mantel with a dark firebox has just come into view at the far right edge of my field of view, which matches the fireplace I am looking for. I will turn right once more to bring it toward the center of my view before advancing.", + "The fireplace with its mantel and dark firebox now sits ahead of me across the open carpeted room, roughly in the middle of my view. I will walk forward to close the distance, since nothing blocks the floor between us.", + "After stepping closer the fireplace is larger but sits right of my center line, so walking straight would drift past it. I will turn right to square my heading onto the hearth before continuing.", + "The fireplace is now centered ahead with its mantel, candlestick and dark firebox clearly framed, and only bare carpet lies between us. I will walk forward to stand directly at the hearth.", + "The fireplace with its white mantel and dark firebox now fills the center of my view, directly ahead and unobstructed across open carpet. I am still a short distance away, so I will step forward again to close the last gap and stand right at it.", + "The fireplace mantel and tiled firebox fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003230_y-000936_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003230_y-000936_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a539595239fb2ed4b3371380a18feac8e3fd33 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003230_y-000936_z000169_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Go to the small green plant on the right first, then go to the tall green plant on the left.", + "Type": 3, + "Start_Pose": [ + 3230.32, + -935.838, + 169.403, + 0.0, + -53.502, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3230.32, + -935.838, + 169.403, + 0.0, + -53.502, + 0.0 + ], + [ + 3305.18, + -1037.013, + 168.325, + 0.0, + -53.502, + 0.0 + ], + [ + 3305.18, + -1037.013, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3415.785, + -1097.072, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -53.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -78.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -103.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -128.502, + 0.0 + ], + [ + 3636.995, + -1217.189, + 168.325, + 0.0, + -153.502, + 0.0 + ], + [ + 3524.358, + -1273.343, + 168.325, + 0.0, + -153.502, + 0.0 + ], + [ + 3524.358, + -1273.343, + 168.325, + 0.0, + -178.502, + 0.0 + ], + [ + 3398.542, + -1276.633, + 168.325, + 0.0, + -178.502, + 0.0 + ], + [ + 3319.13, + -1279.671, + 168.325, + 0.0, + -178.502, + 0.0 + ], + [ + 3319.13, + -1279.671, + 168.325, + 0.0, + -178.502, + 0.0 + ] + ], + "Rationale": [ + "From the doorway end of the room I can see the small potted plant sitting on the white console under the far window on my right, while the tall leafy plant rises from the side table on my left. Since I must reach the small one first, I will walk forward to close the open stretch of floor between us.", + "Straight ahead of me now is the entry door and its flanking windows, a blank wall I cannot walk through. The small plant on the window console lies off to my right, so I will turn right to bring that side of the room and its approach lane into my heading.", + "The turn has opened the deeper half of the room, with the curtained window and the console holding the small potted plant clearly in view ahead. The floor between is unobstructed, so I will step forward to shorten the distance to it.", + "The console table and the small green plant on it have grown noticeably larger and sit slightly left of my heading, confirming I am closing on them. I will keep walking forward to draw alongside that table.", + "The small plant in its white pot now fills the lower left of my view on the console beneath the window, but I am still a stride short of standing at it. One more step forward should bring me right up beside it.", + "The small green plant in its white pot stands immediately beside me on the window console, close enough to touch. I have arrived at it. I mark reaching it, and now set off for the tall leafy plant standing on the side table by the entry door.", + "The small plant is now at my side by the window, so nothing more is needed here. The tall leafy plant beside the entry door lies far around to my left, so I will turn left to begin swinging my heading back across the room toward it.", + "My view is still filled by the window glass, curtain and the small plant on its sill, with no sign yet of the entry door and the tall plant beside it. The rotation so far is not enough, so I will turn left again to keep bringing that far corner around into view.", + "The small potted plant on the sill sits behind me at the right edge now, so this window corner no longer holds anything I need. The tall leafy plant I want stands back across the room, past the curtains to my left. I will keep swinging left to bring the open floor and that far corner into view.", + "The heavy curtain still fills most of my view and blocks any sight line into the room, so I cannot yet pick out the tall green plant. Rotating further left should clear the drapes and reveal the far wall where it stands. I will turn left again.", + "The room has opened up and I can now see the entry door with the tall green plant on its little round table at the far left of my view. It is too far off center to walk straight at it. One more left turn should bring that plant closer to the middle of my heading.", + "The tall green plant on its round table is now ahead of me beside the entry door, with clear floor between us. Nothing blocks the path, so distance is the only thing left to close. I will walk forward toward it.", + "Coming closer has pushed the door frame and its casing across the right of my view, and the tall plant has slid off to my left. Walking straight now would carry me past it into the doorway. A left turn should put the plant back in front of me.", + "The tall green plant is now squarely ahead on its wooden table against the wall, with open floor leading up to it. My heading is good, so I only need to shorten the gap. I will step forward.", + "The tall plant now fills the middle of my view and its pot and table are plainly close ahead. A short final step should bring me right up beside it. I will move forward once more.", + "The tall green plant's leaves and stems fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003230_y-000936_z000169_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003230_y-000936_z000169_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba670400d6930e9437a25363adfe9fc679812c34 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003230_y-000936_z000169_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the wicker basket by the plant on the right, then place it by the plant on the left.", + "Type": 5, + "Start_Pose": [ + 3230.32, + -935.838, + 169.403, + 0, + -53.502, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3598.137, + -1216.224, + 105.15, + 90, + -53.502, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3230.32, + -935.838, + 169.403, + 0, + -53.502, + 0 + ], + [ + 3305.18, + -1037.013, + 168.325, + 0.0, + -53.502, + 0.0 + ], + [ + 3305.18, + -1037.013, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3415.785, + -1097.072, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -28.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -53.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -78.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -103.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -128.502, + 0.0 + ], + [ + 3526.39, + -1157.13, + 168.325, + 0.0, + -153.502, + 0.0 + ], + [ + 3413.753, + -1213.285, + 168.325, + 0.0, + -153.502, + 0.0 + ], + [ + 3318.911, + -1265.385, + 168.325, + 0.0, + -153.502, + 0.0 + ], + [ + 3383.348, + -1233.261, + 168.325, + 0.0, + -153.502, + 0.0 + ], + [ + 3383.348, + -1233.261, + 168.325, + 0.0, + -153.502, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3598.137, + -1216.224, + 105.15, + 90.0, + -53.502, + 0.0 + ], + [ + 3598.137, + -1216.224, + 105.15, + 90.0, + -53.502, + 0.0 + ], + [ + 3598.137, + -1216.224, + 105.15, + 90.0, + -53.502, + 0.0 + ], + [ + 3598.137, + -1216.224, + 105.15, + 90.0, + -53.502, + 0.0 + ], + [ + 3598.137, + -1216.224, + 105.15, + 90.0, + -53.502, + 0.0 + ], + [ + 3536.044, + -1138.073, + 138.257, + -28.202, + 21.643, + 1.862 + ], + [ + 3542.425, + -1144.501, + 138.529, + -28.189, + -3.345, + 1.872 + ], + [ + 3546.191, + -1153.262, + 137.862, + -28.215, + -28.374, + 1.849 + ], + [ + 3551.349, + -1168.704, + 138.043, + -14.175, + -61.309, + 6.959 + ], + [ + 3543.062, + -1169.888, + 137.932, + -28.208, + -78.359, + 1.851 + ], + [ + 3535.551, + -1174.773, + 138.6, + -28.198, + -103.356, + 1.867 + ], + [ + 3423.74, + -1232.17, + 138.07, + -28.198, + -103.356, + 1.862 + ], + [ + 3328.76, + -1284.337, + 137.802, + -28.206, + -103.361, + 1.854 + ], + [ + 3320.701, + -1264.493, + 133.325, + 90.0, + -153.502, + 0.0 + ], + [ + 3320.701, + -1264.493, + 133.325, + 90.0, + -153.502, + 0.0 + ] + ], + "PD_Dist_2D": [ + 462.5, + 343.4, + 343.4, + 217.8, + 93.0, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket sits on the floor by the potted plant at the window on the right side of the room, well beyond arm's reach. I will walk forward to cut down that distance before adjusting my heading toward it.", + "After advancing, the basket by the window sits off to my right rather than straight ahead, so walking on would carry me past it. I will turn right to swing my heading onto the basket and the open floor leading to it.", + "The basket by the window plant now lies ahead within my path, with unobstructed floor between us. I will step forward to close the remaining gap toward it.", + "The basket is noticeably larger and lower in view, so I am close but still not within grabbing range. I will walk forward once more to bring it directly in front of me for a reach.", + "The wicker basket is right at my feet beside the window plant, filling the bottom of my view. I will reach down and attempt to grab it so I can carry it across to the other plant.", + "The grab worked, and the basket is now held in my hands rather than resting on the floor. The plant on the opposite side of the room lies behind me to the left, so I will turn left to begin swinging my heading toward it.", + "I still hold the basket, but my view faces only the curtained window and side table, not the far plant. I will keep rotating left to continue bringing the opposite side of the room into view.", + "With the basket carried, my view has only swung as far as the wall and narrow side window, so the entry area with the other plant is still out of sight. I will turn left again to keep rotating toward it.", + "The wicker basket is secure in my hands, but my view is filled by the entry door and its narrow sidelights, with no potted plant in sight. I will keep rotating left to sweep the entry wall until the left-hand plant enters my view.", + "The tall potted plant on its round wooden stool now appears at the left edge of the door frame, so my sweep has found the drop target. I will turn left once more to bring it nearer the center of my heading before walking toward it.", + "The plant on the stool now sits ahead of me in the corner beside the door, with clear open floor between us. Carrying the basket, I will walk forward to close that gap toward the corner where it belongs.", + "The plant and its stool now dominate the middle of my view, yet I am still a stride short of a comfortable placement distance. I will step forward once more so the basket can be set right beside the pot.", + "The plant's leaves and stem fill my view, so I am right up against its corner with the basket still in hand. This is the spot the task names, so I will release the basket here beside the plant.", + "The wicker basket now rests on the floor beside the potted plant, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003262_y-000398_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003262_y-000398_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..74dcc2b108727a0d7d78afe27eca95fd79288ff4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003262_y-000398_z000168_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the closet on your left.", + "Type": 2, + "Start_Pose": [ + 3262.34, + -397.944, + 168.149, + -0.301, + 93.304, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3262.34, + -397.944, + 168.149, + -0.301, + 93.304, + -0.0 + ], + [ + 3262.34, + -397.944, + 168.149, + -0.301, + 68.304, + 0.0 + ], + [ + 3308.867, + -280.67, + 168.149, + -0.301, + 68.304, + 0.0 + ], + [ + 3355.394, + -163.729, + 168.149, + -0.301, + 68.304, + 0.0 + ], + [ + 3401.921, + -46.788, + 168.716, + -0.301, + 68.304, + 0.0 + ], + [ + 3401.921, + -46.788, + 168.716, + -0.301, + 68.304, + 0.0 + ] + ], + "Rationale": [ + "The louvered closet with its tall double doors stands against the left-hand wall of this hallway, partly edged out of my view by the near wall. I will turn left to bring that side of the corridor squarely in front of me before walking. That should give me a clean line toward the closet.", + "The closet with its louvered doors now sits clearly ahead on the left side of the hallway, with the runner rug leading that way. The floor between me and it is clear, so I will walk forward to close the distance.", + "The louvered closet has grown noticeably larger on my left, but I am still short of standing beside it. The hallway ahead remains open, so I will keep walking forward.", + "The closet's louvered doors now dominate the left edge of my view, though I am still slightly behind them rather than alongside. One more step forward should bring me level with the closet front.", + "The louvered closet doors and their handles are directly beside me at arm's length on my left. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003265_y-001445_z000150_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003265_y-001445_z000150_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e4d3927c1df7f4bad5112cfef06a60ff1a1270e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003265_y-001445_z000150_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the flower pot on the right.", + "Type": 2, + "Start_Pose": [ + 3264.819, + -1445.384, + 149.882, + -0.301, + -24.963, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3264.819, + -1445.384, + 149.882, + -0.301, + -24.963, + 0.0 + ], + [ + 3264.819, + -1445.384, + 149.882, + -0.301, + 0.037, + -0.0 + ], + [ + 3390.676, + -1445.303, + 149.882, + -0.301, + 0.037, + -0.0 + ], + [ + 3516.533, + -1445.221, + 149.882, + -0.301, + 0.037, + -0.0 + ], + [ + 3642.391, + -1445.14, + 149.882, + -0.301, + 0.037, + -0.0 + ], + [ + 3768.248, + -1445.059, + 149.882, + -0.301, + 0.037, + -0.0 + ], + [ + 3894.105, + -1444.978, + 149.882, + -0.301, + 0.037, + -0.0 + ], + [ + 3894.105, + -1444.978, + 149.882, + -0.301, + 0.037, + -0.0 + ] + ], + "Rationale": [ + "Among the planters along this patio, the one farthest right is the pink flowering shrub in a white box standing against the house siding, and that is my target. It sits well off my current heading, past the porch post. I will turn right to bring that flowering planter into the center of my path.", + "The pink flowering planter against the siding now lies ahead of me, with open patio concrete between us. Nothing blocks that lane. I will walk forward to close the distance.", + "The flowering planter by the siding has grown larger and stays roughly centered in my path. The covered walkway between the house wall and the posts remains clear. I will keep walking straight toward it.", + "I am still some strides short of the flowering planter, though its blossoms and white box are clearly resolved ahead. The concrete underfoot continues cleanly in that direction. I will advance again.", + "The other planters have slid out of view behind me, and only the pink flowering shrub in its white box remains ahead, framed between the fence and the siding. It is close now but not yet within arm's reach. I will step forward once more.", + "The flowering shrub and its white box now fill much of my view, with the fence directly behind it. One more step should bring me right up beside it. I will move forward.", + "The pink flowering planter fills my view at arm's length against the fence. I have reached it, so the walk is complete and there is no reason to continue." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003266_y-000076_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003266_y-000076_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68f14454f24dba5307a5fb9ca0e4ab4204655ac9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003266_y-000076_z000168_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Navigate to the painting visible through the left doorway.", + "Type": 0, + "Start_Pose": [ + 3265.607, + -75.955, + 168.15, + 0.0, + -10.373, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3265.607, + -75.955, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3389.409, + -98.617, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3389.409, + -98.617, + 168.15, + 0.0, + -35.373, + 0.0 + ], + [ + 3492.034, + -171.476, + 168.15, + 0.0, + -35.373, + 0.0 + ], + [ + 3492.034, + -171.476, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3615.836, + -194.138, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3739.639, + -216.799, + 168.845, + 0.0, + -10.373, + 0.0 + ], + [ + 3863.441, + -239.461, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3929.928, + -221.536, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3929.928, + -221.536, + 168.15, + 0.0, + -10.373, + 0.0 + ], + [ + 3929.928, + -221.536, + 168.15, + 0.0, + -35.373, + 0.0 + ], + [ + 3929.928, + -221.536, + 168.15, + 0.0, + -35.373, + 0.0 + ], + [ + 3929.928, + -221.536, + 168.15, + 0.0, + -35.373, + 0.0 + ] + ], + "Rationale": [ + "Through the wide doorway on my left I can see a framed painting of a pyramid hanging on the far wall above a chest of drawers, which matches the target described in the task. I will step forward to close the gap to that opening and get a clearer line into the adjoining room.", + "I am now close to the opening, but a wall section fills the right side of my view while the painting and the chest of drawers sit toward the left. Turning left should swing my heading into the doorway so the target room is centered ahead of me.", + "The doorway is now squarely ahead with the painting on the far wall inside the room and a clear rug-covered floor leading in. I will advance to pass through the opening and shorten the distance to the target.", + "Having entered the room, the painting sits to the right of where I am pointed, while my heading is aimed more toward the arch and cabinets on the left. A right turn should bring the painting toward the center of my view for a straight approach.", + "The painting and the dresser beneath it are now roughly ahead of me with open floor in between. I will move forward to close distance along this heading.", + "The painting has grown larger and stays near the middle of my view, so my heading is still good. Another step forward should bring me closer to the wall where it hangs.", + "The painting now dominates the upper part of my view and the dresser with its plant and small photo is close in front of me. I will take another step to finish closing the remaining distance to the target wall.", + "I am nearly at the wall, with only the painting's lower edge at the top of my view and the dresser top just below me on the left. A final short step should place me directly beneath the painting, though the dresser and wall may limit how far I can advance.", + "I have closed almost all the distance to the wall under the painting, and now only blank plaster fills my view because the picture sits above my current line of sight. I will tilt my head upward to bring the framed painting back into view and confirm I am standing right in front of it.", + "With my head raised, only the lower right corner of the painting's dark frame appears at the top left of my view, so the picture lies off to my left. I will turn left to swing my heading toward the painting and bring it into the center of my view.", + "After turning, only a sliver of the frame's bottom edge clips the top left of my view, so the painting is still mostly above my sight line at this close range. I will tilt up again so the whole picture should come into view for a clear confirmation.", + "The framed painting is now plainly in view directly above me at arm's length on the wall. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003269_y000149_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003269_y000149_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..823aeed4e35b719320a55342f31cbc2b35335daf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003269_y000149_z000468_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Turn away from the laundry appliances, locate the room door, and open it.", + "Type": 4, + "Start_Pose": [ + 3268.824, + 148.618, + 468.15, + 0.0, + 81.407, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3268.824, + 148.618, + 468.15, + 0.0, + 81.407, + 0.0 + ], + [ + 3268.824, + 148.618, + 468.15, + 0.0, + 56.407, + -0.0 + ], + [ + 3268.824, + 148.618, + 468.15, + 0.0, + 31.407, + -0.0 + ], + [ + 3268.824, + 148.618, + 468.15, + 0.0, + 6.407, + -0.0 + ], + [ + 3268.824, + 148.618, + 468.15, + 0.0, + -18.593, + 0.0 + ], + [ + 3388.114, + 108.489, + 468.728, + 0.0, + -18.593, + 0.0 + ], + [ + 3388.114, + 108.489, + 468.728, + 0.0, + -43.593, + 0.0 + ], + [ + 3479.268, + 21.705, + 468.231, + 0.0, + -43.593, + 0.0 + ], + [ + 3479.268, + 21.705, + 468.239, + 0.0, + -43.593, + 0.0 + ], + [ + 3479.268, + 21.705, + 468.239, + 0.0, + -18.593, + 0.0 + ], + [ + 3498.64, + -15.411, + 468.15, + 0.0, + -18.593, + 0.0 + ], + [ + 3498.64, + -15.411, + 468.298, + 0.0, + -18.593, + 0.0 + ], + [ + 3498.64, + -15.411, + 468.298, + 0.0, + -18.593, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the washer and dryer with a wire storage rack beside them, and no doorway is anywhere in this view. To find the room door I need to sweep my heading away from these appliances, so I will turn left to bring an unseen part of the room into view.", + "The appliances have shifted toward the center and right of my view, and a tall white cabinet now sits ahead, but there is still no door in sight. I will keep rotating left to continue scanning the remaining walls of this laundry room.", + "I can now see a dresser and framed pictures on the far wall, with the appliances pushed to my right edge, so I have largely turned away from them. No door has appeared yet, so I will continue the leftward sweep toward the wall I have not inspected.", + "A white panelled door with a brass handle has just come into view at the far left edge of my field of view. I will turn left again to bring that doorway toward the center of my view so I can line up an approach.", + "The room door is now clearly framed in the left portion of my view, set in the far wall past the dresser, and I am still standing well back from it. I will move forward to close that distance before trying to work the handle.", + "The paneled room door now sits at the far left edge of my view, clipped by the wall, while the dresser fills the right side. I will turn left to bring the door and its handle into the center of my view so I can head straight at it.", + "The closed door with its brass lever is now centered ahead of me across open tile floor, with nothing between us. I will move forward to close the remaining gap and get within reach of the handle.", + "I am right up against the door leaf, with the lever handle and lock plate clearly visible near the right side of my view. This seems close enough to grasp the handle, so I will attempt to open the door.", + "My attempt on the handle just now left the door exactly as it was, still shut in front of me. I am probably not squared up with the latch side, so I will turn right to face the handle and door edge more directly before trying again.", + "Now the latch edge, jamb and brass lever are in front of me rather than off to one side, but the earlier attempt from this standoff distance did not move the door. I will edge forward slightly to bring the handle firmly within reach for another try.", + "My previous attempt at this door left it shut, so I shifted my stance and closed the small remaining gap until the panelled leaf fills my view. From this tighter, squarer position on the door I will try the opening interaction again, and the latch should release this time.", + "The door now stands open, revealing the landing and stair railing beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003273_y-001018_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003273_y-001018_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66897fd74fcaf9d80f56cdc4af284e8944259724 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003273_y-001018_z000468_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the red-wallpapered bedroom to the door just right of the computer desk, then open it.", + "Type": 4, + "Start_Pose": [ + 3273.413, + -1018.346, + 468.15, + 0.0, + -40.034, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3273.413, + -1018.346, + 468.15, + 0.0, + -40.034, + 0.0 + ], + [ + 3273.413, + -1018.346, + 468.15, + 0.0, + -15.034, + 0.0 + ], + [ + 3394.613, + -1039.905, + 468.15, + 0.0, + -15.034, + 0.0 + ], + [ + 3515.562, + -1059.697, + 468.15, + 0.0, + -15.034, + 0.0 + ], + [ + 3637.113, + -1092.344, + 468.15, + 0.0, + -15.034, + 0.0 + ], + [ + 3637.113, + -1092.344, + 468.15, + 0.0, + -15.034, + 0.0 + ], + [ + 3637.113, + -1092.344, + 468.15, + 0.0, + 9.966, + -0.0 + ], + [ + 3703.042, + -1073.556, + 468.15, + 0.0, + 9.966, + -0.0 + ], + [ + 3703.042, + -1073.556, + 468.15, + 0.0, + 9.966, + -0.0 + ], + [ + 3703.042, + -1073.556, + 468.15, + 0.0, + 9.966, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here in the red-wallpapered bedroom I can see the computer desk ahead and the white paneled door standing just to its right, but that door sits off toward the right side of my view. I will turn right to bring the doorway closer to the center of my heading so I can walk straight at it.", + "The door beside the desk is now roughly ahead of me with open carpet between us and no furniture blocking the line. I will move forward to close the distance across the bedroom toward it.", + "The paneled door and its brass handle are noticeably larger now, so my heading across the room is still good. I am not yet within reach of the handle, so I will keep advancing.", + "The door now fills much of my view with the desk drawers just to my left, and the lever handle is clearly visible on its right side. I will step forward once more to get within arm's reach for the handle.", + "I am right up against the white door, with its panels filling my view and the brass lever and lock visible near the right edge. This is close enough to reach the handle, so I will attempt to open the door.", + "My previous attempt at the latch left the door panel unchanged, and I can see why: the handle sits at the far right edge of my view, so I am not squarely facing the interaction point. I will turn right to bring the knob and lever toward the center of my view for a better aligned grasp.", + "The knob and lever are now centered in my view with the door frame and light switch visible to the right, so my heading is correct for this door. I will move forward to close the remaining gap and put the handle within reach.", + "The lever and deadbolt now fill my view at arm's length, so I am squarely positioned on the handle that my earlier attempt failed to engage. I will try opening the door from this closer, better centered stance.", + "The doorway now stands open onto a bathroom with vanity and toilet visible beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003273_y001076_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003273_y001076_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dca3cd7da334637446054e7e1149cf18261c2b1d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003273_y001076_z000468_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Go to the bedside lamp on the right first, then go to the bedside lamp on the left.", + "Type": 3, + "Start_Pose": [ + 3273.071, + 1076.112, + 468.15, + 0.0, + 112.079, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3273.071, + 1076.112, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 3273.071, + 1076.112, + 468.15, + 0.0, + 137.079, + -0.0 + ], + [ + 3180.905, + 1161.821, + 468.15, + 0.0, + 137.079, + -0.0 + ], + [ + 3088.74, + 1247.529, + 468.15, + 0.0, + 137.079, + -0.0 + ], + [ + 2996.574, + 1333.238, + 468.15, + 0.0, + 137.079, + -0.0 + ], + [ + 2996.574, + 1333.238, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 2981.157, + 1433.113, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 2972.018, + 1527.814, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 2972.018, + 1527.814, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 2994.899, + 1441.397, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 3012.261, + 1354.088, + 468.15, + 0.0, + 112.079, + -0.0 + ], + [ + 3012.261, + 1354.088, + 468.15, + 0.0, + 87.079, + -0.0 + ], + [ + 3012.261, + 1354.088, + 468.15, + 0.0, + 62.079, + -0.0 + ], + [ + 2981.163, + 1271.584, + 468.15, + 0.0, + 62.079, + -0.0 + ], + [ + 2981.163, + 1271.584, + 468.15, + 0.0, + 37.079, + -0.0 + ], + [ + 3077.346, + 1321.537, + 468.15, + 0.0, + 37.079, + -0.0 + ], + [ + 3171.568, + 1321.552, + 468.15, + 0.0, + 37.079, + -0.0 + ], + [ + 3171.568, + 1321.552, + 468.15, + 0.0, + 62.079, + -0.0 + ], + [ + 3234.896, + 1376.666, + 468.15, + 0.0, + 62.079, + -0.0 + ], + [ + 3234.896, + 1376.666, + 468.15, + 0.0, + 87.079, + -0.0 + ], + [ + 3241.31, + 1502.362, + 468.15, + 0.0, + 87.079, + -0.0 + ], + [ + 3241.31, + 1502.362, + 468.15, + 0.0, + 87.079, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the bed with a small lamp glowing on each nightstand, and the one on the right side of the bed sits farther toward the window wall. My current heading points at the middle of the room rather than at that right-hand nightstand. I will turn right to bring it into the center of my view before walking.", + "Facing across the room now, the bed and the nightstand with its lit lamp stand off to my left, with clear carpet ahead toward the windows. Nothing blocks the straight path, so I will walk forward to cut the distance to that side of the bed.", + "The nightstand and its lamp have grown noticeably larger on my left, confirming my heading is carrying me toward that corner of the bed. I am still several strides short of it. I will keep walking forward to close the remaining gap.", + "The lamp on the nightstand beside the bed is now close on my left, with the window filling the right half of my view. A little more distance remains before I stand at that bedside. I will step forward again to reach it.", + "My advance has brought me almost against the window bay, and the lamp I am heading for has slipped to the far left edge of my view. I need it centered before I take my last steps. I will turn left to swing my heading back onto that nightstand.", + "The turn worked, and the nightstand with its lit lamp and clock now sits squarely ahead of me beside the bed. Only a short stretch of carpet separates us. I will walk forward to come up to it.", + "The lamp and the clock on the nightstand top now fill much of my view, so I am nearly beside that side of the bed. One more short step should put me right at it. I will move forward again.", + "The glowing lampshade on the nightstand beside the right side of the bed now fills my view at arm's length, with the corner wall right behind it. I am standing at this bedside lamp. I mark reaching it and turn my attention to the lamp on the nightstand at the opposite side of the bed.", + "I am pressed right up against the lamp in the corner, with the shade and blank wall filling everything ahead, so I have no room to swing around here. Having already reached this lamp beside the bed, I now need the one on the bed's other side. Stepping back should open enough space and view to reorient.", + "The nightstand, its lamp and the clock are visible again, but I am still boxed into the narrow slot between the bed and the wall. Another step back should clear that pinch so I can turn freely toward the far side of the bed.", + "From here I can see the nightstand ahead and the bed running off to my left, with the curtained window boxing me in on the right. The lamp I want next sits on the far side of that bed, so I turn left to bring the bed and the room beyond it into view.", + "The bed is now squarely in front of me and the second nightstand lamp shows at the far left edge of my view. I turn left again to bring that lamp and the open floor on its side of the room more toward the center of my heading.", + "The near side of the bed crowds the bottom of my view, leaving little room to work along it toward the lamp on the far nightstand. Backing up should put distance between me and the bed frame and expose the open carpet by the archway that I can walk through.", + "With more of the room in view, the clear stretch of carpet leading past the foot of the bed lies off to my left, while the bed still blocks a direct line. I turn left to face that open lane so I can walk around toward the lamp on the far nightstand.", + "The floor ahead is clear all the way to the archway, and the lamp on the far nightstand glows off to my right beside the bed's head. I walk forward along this open lane to close the distance to that side of the room.", + "That nightstand and its lit lamp have grown larger on my right, so my line of travel is bringing me alongside them. Nothing blocks the carpet in front of me, so I keep walking forward to draw level with the lamp.", + "The lamp on the nightstand beside the bed sits at the far right edge of my view, while most of what I face is the open floor and the desk alcove. I will turn right to bring that lamp and its cabinet toward the center of my heading before advancing.", + "The lamp on the low white cabinet beside the headboard now sits clearly in the right half of my view, with clear carpet between me and it. I will step forward to cut the remaining distance to that bedside lamp.", + "After closing in, the lit lamp and its cabinet have drifted to my right side while my heading still points at the plant and the desk beyond the arch. I will turn right so the lamp sits squarely ahead of me for a final approach.", + "The bedside lamp and its clock now sit near the middle of my view on the cabinet beside the headboard, only a short stretch of carpet away. I will walk forward to stand right at this lamp.", + "The lamp on the left-side nightstand fills my view at arm's length, its shade and clock directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003279_y000259_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003279_y000259_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f13ada41b46356e192e754c4cc0264a94c7abf7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003279_y000259_z000468_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Locate a sink for washing, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 3279.14, + 258.918, + 468.15, + 0.0, + 81.601, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3279.14, + 258.918, + 468.15, + 0.0, + 81.601, + -0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + 106.601, + -0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + 131.601, + -0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + 156.601, + -0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + -178.399, + 0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + -153.399, + 0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + -128.399, + 0.0 + ], + [ + 3279.14, + 258.918, + 468.15, + 0.0, + -103.399, + 0.0 + ], + [ + 3268.842, + 137.034, + 468.15, + 0.0, + -103.399, + 0.0 + ], + [ + 3268.842, + 106.065, + 467.874, + 0.0, + -103.399, + 0.0 + ], + [ + 3268.842, + 106.065, + 467.874, + 0.0, + -103.399, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a bamboo bunk frame and a blank wall, so no sink is anywhere in sight from this heading. I will turn right to begin a consistent scan of the room for a washing area.", + "Turning has only brought more of the bed frame and bare wall into view, with no basin or faucet. I will keep rotating right in the same direction to continue the scan.", + "I am now facing a corner where two walls meet behind the bed frame, which is a dead end for finding a sink. Continuing right should sweep me past this corner toward unseen parts of the room.", + "Almost the whole frame is a featureless wall, with only a faint vertical edge on the right suggesting something beyond it. I will turn right again to bring that edge and whatever lies past it into view.", + "The right side of my view has opened onto a large window looking out at a street, so this stretch of wall holds glass rather than a sink. I will continue turning right to see the wall and counters that should follow past the window.", + "The window now fills my view entirely and shows only the street outside, so there is still no washing fixture in front of me. I will keep the scan going to the right toward the interior wall past the window frame.", + "At the right edge of my view I can now see a countertop with a faucet and twin basins under a wall cabinet, which matches the sink I am looking for. I will turn right once more to bring that sink into the center of my heading before advancing.", + "The sink counter with its faucet and cabinet is now ahead of me along the wall, with clear tiled floor between us. I will walk forward to close that distance and reach the basin.", + "The double-basin sink with its faucet is now directly ahead of me on the counter, clearly identified as the washing target. I am still a short step back from the counter edge, so I will walk forward once more to close that remaining gap. This small advance should place me right at the basin within comfortable reach.", + "The sink basins and faucet fill the view directly in front of me at arm's reach. The task is complete, so I stop here rather than move further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003281_y-001040_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003281_y-001040_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..371f2d475df9799db0d6f28704fedeb70f6e5802 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003281_y-001040_z000468_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled door on the left side of the red-wallpapered room.", + "Type": 4, + "Start_Pose": [ + 3280.945, + -1039.888, + 468.15, + 0.0, + 48.193, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3280.945, + -1039.888, + 468.15, + 0.0, + 48.193, + 0.0 + ], + [ + 3280.945, + -1039.888, + 468.15, + 0.0, + 23.193, + -0.0 + ], + [ + 3396.633, + -990.321, + 468.15, + 0.0, + 23.193, + -0.0 + ], + [ + 3512.32, + -940.754, + 468.15, + 0.0, + 23.193, + -0.0 + ], + [ + 3627.448, + -897.654, + 468.15, + 0.0, + 23.193, + -0.0 + ], + [ + 3627.448, + -897.654, + 468.15, + 0.0, + 48.193, + -0.0 + ], + [ + 3627.448, + -897.654, + 468.15, + 0.0, + 73.193, + -0.0 + ], + [ + 3627.448, + -897.654, + 468.15, + 0.0, + 73.193, + -0.0 + ], + [ + 3627.448, + -897.654, + 468.15, + 0.0, + 73.193, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am standing in the red-wallpapered room and a white paneled door sits on the wall to my left, partly cut off by the near wallpapered pier. Turning left should swing that left-hand wall into the center of my view so I can judge a clear straight approach to the door.", + "The white paneled door on the left wall is now fully visible with its brass knob, and a second white door stands further along the right-hand wall. The carpet ahead of me is clear, so I will move forward to close the distance toward the left-side door.", + "The paneled door and its knob are larger now but still several steps away at the edge of my view, with the corner of the room opening up ahead. Continuing forward should bring me into the alcove where the door is reachable.", + "A white paneled door with two brass handles now fills the right portion of my view, and a light switch beside it confirms I am at the doorway recess. One more step forward should place me directly in front of the door leaf, close enough to work the handle.", + "I am right up against the doorway, with only the frame edge and a sliver of the white door on the right side of my view while wallpaper fills the left. Turning right should rotate the door leaf into the center of my heading for a proper face-on alignment.", + "The white paneled leaf now covers most of my view, but the frame and wallpaper still show along the left edge, so my heading is slightly off the door face. A second turn right should square me onto the panel before I reach for it.", + "My view is entirely the white paneled leaf of this left-side door, so I am squarely against it and within reach of its latch. I will attempt to open it now, which should swing the panel clear and reveal what lies beyond.", + "The white paneled door now stands swung inward, revealing the lit corridor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003308_y001131_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003308_y001131_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cc3e34e96c6779d83fb6cf40e68df99f14299f06 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003308_y001131_z000168_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the refrigerator, then head to the chair with a back.", + "Type": 3, + "Start_Pose": [ + 3307.592, + 1131.473, + 168.15, + -0.301, + 31.053, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3307.592, + 1131.473, + 168.15, + -0.301, + 31.053, + 0.0 + ], + [ + 3307.592, + 1131.473, + 168.15, + -0.301, + 56.053, + -0.0 + ], + [ + 3377.874, + 1235.878, + 168.214, + -0.301, + 56.053, + -0.0 + ], + [ + 3448.156, + 1340.284, + 168.214, + -0.301, + 56.053, + -0.0 + ], + [ + 3448.156, + 1340.284, + 168.214, + -0.301, + 81.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + 81.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + 81.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + 56.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + 31.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + 6.053, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + -18.947, + 0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + -43.947, + -0.0 + ], + [ + 3467.729, + 1464.61, + 168.214, + -0.301, + -68.947, + -0.0 + ], + [ + 3512.941, + 1347.154, + 168.214, + -0.301, + -68.947, + -0.0 + ], + [ + 3512.941, + 1347.154, + 168.214, + -0.301, + -43.947, + -0.0 + ], + [ + 3532.623, + 1264.581, + 168.149, + -0.301, + -43.947, + -0.0 + ], + [ + 3532.623, + 1264.581, + 168.149, + -0.301, + -18.947, + 0.0 + ], + [ + 3651.661, + 1223.716, + 168.149, + -0.301, + -18.947, + 0.0 + ], + [ + 3651.661, + 1223.716, + 168.149, + -0.301, + -18.947, + 0.0 + ] + ], + "Rationale": [ + "From this doorway the kitchen opens ahead, and the white refrigerator stands against the far right wall, well off my current heading. I will turn right so that appliance sits nearer the middle of my view before I start walking. That should give me a straight lane past the island toward it.", + "The refrigerator now sits ahead and slightly right, with clear floor between me and the counter run. Nothing blocks the lane along the near side of the island, so I will walk forward to cut down that distance.", + "The refrigerator has grown noticeably larger against the tall cabinets, but I am still several paces short of standing beside it. The floor ahead past the island corner remains clear, so I will keep walking forward.", + "I am close to the counter run now, but the refrigerator has drifted to the right side of my view while my heading points down the cabinets. I will turn right to put its doors squarely in front of me so the last approach is a straight walk.", + "The refrigerator is centered ahead with its handles clearly visible and the glass pantry doors beside it. Only a short stretch of open floor separates me from it, so I will step forward to close that final gap.", + "The refrigerator fills my view at arm's length, its two door handles right in front of me and the sink counter at my left. I have reached it. I mark reaching the refrigerator before setting off for the chair with a back.", + "Standing this close, the refrigerator and pantry doors fill everything I can see, so nothing of the room is usable for planning. The chair with a back sits back out in the open part of the kitchen, away from this wall, so I will turn left to swing my view off the appliance.", + "The rotation has opened up the sink and range along the counter, but the refrigerator still blocks my right side and no chair is in sight yet. I will keep turning left to bring the open floor of the kitchen into view.", + "I am standing right at the refrigerator, and my view holds only the sink run, oven and upper cabinets, with no seat anywhere in it. I turn left again to keep sweeping the kitchen for a chair with a back.", + "The sweep has brought the island with its candlesticks and the far cabinet wall into view, but still no seating. I continue turning left to carry the search across the rest of the room.", + "At the far left edge of my view I can just make out a small upholstered seat tucked against the counter beyond the island. I turn left again to bring that seat properly into view and confirm it has a back.", + "The chair with a tall back is now clearly visible against the counter past the island, and an archway opens beyond it. Since the island sits between us, I turn left once more to face the open floor that should give me a walkable lane toward it.", + "Open floor now runs ahead of me past the end of the island, with the chair sitting off to my right along the counter. I walk forward along this clear stretch to close the distance before swinging toward the seat.", + "Having advanced past the island, the tan upholstered chair with its high back now stands clearly to my right against the cabinets. I turn right to put it in front of me before continuing.", + "The chair with a back is now ahead of me, its seat and tall backrest facing into the room beside the cabinet run. I step forward across the open floor to close the remaining gap to it.", + "That step brought me in only partway, and the low partition wall crossing my left foreground crowds a straight run at the chair. I turn right to swing my heading onto the open floor beside the seat so my approach stays clear.", + "The upholstered chair with its tall padded back stands just ahead against the wall at the counter corner, now centered enough in my view to walk straight at. A step forward should bring me right up beside it.", + "The backed chair is directly beside me, filling the near edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003310_y-001236_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003310_y-001236_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..511271bc1709a3689ee29eb8065f574ea88347f8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003310_y-001236_z000468_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the home office to the white door to the right of the desk and open it.", + "Type": 4, + "Start_Pose": [ + 3309.799, + -1235.808, + 468.15, + 0.0, + -4.845, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3309.799, + -1235.808, + 468.15, + 0.0, + -4.845, + 0.0 + ], + [ + 3309.799, + -1235.808, + 468.15, + 0.0, + 20.155, + -0.0 + ], + [ + 3426.237, + -1231.671, + 468.15, + 0.0, + 20.155, + -0.0 + ], + [ + 3544.665, + -1193.358, + 468.15, + 0.0, + 20.155, + -0.0 + ], + [ + 3662.817, + -1149.991, + 468.15, + 0.0, + 20.155, + -0.0 + ], + [ + 3662.817, + -1149.991, + 468.15, + 0.0, + 45.155, + -0.0 + ], + [ + 3700.475, + -1069.55, + 468.15, + 0.0, + 45.155, + -0.0 + ], + [ + 3700.475, + -1069.55, + 468.15, + 0.0, + 20.155, + -0.0 + ], + [ + 3700.475, + -1069.55, + 468.15, + 0.0, + 20.155, + -0.0 + ], + [ + 3700.475, + -1069.55, + 468.15, + 0.0, + 20.155, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the desk sits ahead of me and the white door I need is off to its right, near the edge of my view. I will turn right to bring that side of the room and the door squarely in front of me before crossing the floor.", + "The white door beside the desk is now roughly ahead of me with open carpet between us. I will move forward to close that distance across the office.", + "The paneled white door has grown larger and its brass knob is now readable, so my heading is still good. I will continue forward to get within arm's reach of it.", + "The door now dominates my view but I am still short of comfortable reach for the handle. Another step forward should bring me right up against the door face.", + "I am close against the door, and its knob and latch sit toward the right edge of what I can see rather than in front of me. I will turn right to put the latch side of the door into my forward direction so I can settle in beside it.", + "With my heading now angled toward the latch side, the doorframe and the wall past it are ahead of me. A short step forward should place me directly beside the knob for a clean reach.", + "I have drifted my heading onto the wallpapered wall and light switch, with the door edge only at my left. I will turn left to face the door leaf and its knob straight on before reaching for it.", + "The brass knob and its lock plate are centered right in front of me and well within reach, and the door still reads as closed. I will operate the handle now, which should swing this white door open.", + "The white door now stands open, revealing the room beyond with its vanity and mirror. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003316_y-000991_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003316_y-000991_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1a4a74d180681ccab3b15af704a7c05619432b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003316_y-000991_z000468_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the environment and go to the leather chair.", + "Type": 1, + "Start_Pose": [ + 3315.953, + -990.832, + 468.15, + 0.0, + -152.166, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3315.953, + -990.832, + 468.15, + 0.0, + -152.166, + 0.0 + ], + [ + 3315.953, + -990.832, + 468.15, + 0.0, + -127.166, + 0.0 + ], + [ + 3315.953, + -990.832, + 468.15, + 0.0, + -102.166, + 0.0 + ], + [ + 3315.953, + -990.832, + 468.15, + 0.0, + -77.166, + 0.0 + ], + [ + 3315.953, + -990.832, + 468.15, + 0.0, + -52.166, + 0.0 + ], + [ + 3315.953, + -990.832, + 468.15, + 0.0, + -27.166, + 0.0 + ], + [ + 3427.759, + -1039.827, + 468.15, + 0.0, + -27.166, + 0.0 + ], + [ + 3540.223, + -1090.019, + 468.15, + 0.0, + -27.166, + 0.0 + ], + [ + 3652.199, + -1147.482, + 468.15, + 0.0, + -27.166, + 0.0 + ], + [ + 3652.199, + -1147.482, + 468.15, + 0.0, + -52.166, + 0.0 + ], + [ + 3652.199, + -1147.482, + 468.15, + 0.0, + -77.166, + 0.0 + ], + [ + 3652.199, + -1147.482, + 468.15, + 0.0, + -77.166, + 0.0 + ] + ], + "Rationale": [ + "I am facing a patterned wall with framed pictures, and only a bed headboard edges into view on my right, so no leather chair is visible from here. I will turn right to begin a consistent scan of this bedroom toward the more open side of the room.", + "The room is opening up as I rotate, showing a bed, a nightstand with a clock, and curtains further right, but still no chair. I will keep turning right in the same direction to bring the curtained window wall and whatever stands beside it into view.", + "I can now see the window with curtains and the bed in front of me, but no seating of any kind has appeared yet. I will continue the same rightward scan to check the wall beyond the window for a chair.", + "A desk with a dark office chair has just come into view on the right side of the room, which is the strongest candidate for the leather chair I am searching for. I will turn right again to bring that desk area toward the center of my heading.", + "The desk and its dark leather-looking swivel chair are now clearly in my view, sitting in the corner to my left of the closed door. One more turn right should settle my heading on the open floor leading to that corner so I can walk straight at it.", + "My heading is now set down the open carpet toward the desk corner, with the leather chair visible just left of the white door. I will walk forward to close the distance to that chair.", + "The desk, hutch, and the dark leather chair are noticeably larger now, so my forward walk is closing the gap as intended. I will step forward again since there is still open floor between me and the chair.", + "I am close to the desk hutch now, with the leather chair's dark back visible at the left edge of my view. I will take one more step forward to reach the chair's position before turning to face it.", + "I am now standing right at the desk unit, so close that the cabinet side and patterned wall fill my view and the leather chair I was heading for has slipped out of sight to my left. Turning left should swing my heading back along the desk and bring that chair into view again.", + "The turn has opened up the desktop with its lamp, book and magazine, but the leather chair still sits further left, outside my view. I will turn left once more to center that chair in front of me.", + "The dark leather chair stands immediately in front of me at the desk, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y001196_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y001196_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3a07c362c223c3feca01ab87a2af2eda641c98 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y001196_z000468_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Open the left-hand white paneled door in the upstairs hallway.", + "Type": 4, + "Start_Pose": [ + 3317.859, + 1195.507, + 468.15, + 0.0, + 3.95, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3317.859, + 1195.507, + 468.15, + 0.0, + 3.95, + 0.0 + ], + [ + 3317.859, + 1195.507, + 468.15, + 0.0, + -21.05, + 0.0 + ], + [ + 3435.319, + 1150.301, + 468.15, + 0.0, + -21.05, + 0.0 + ], + [ + 3552.779, + 1105.094, + 468.15, + 0.0, + -21.05, + 0.0 + ], + [ + 3670.239, + 1059.888, + 468.15, + 0.0, + -21.05, + 0.0 + ], + [ + 3670.239, + 1059.888, + 468.15, + 0.0, + -46.05, + 0.0 + ], + [ + 3757.589, + 969.276, + 468.15, + 0.0, + -46.05, + 0.0 + ], + [ + 3844.47, + 901.69, + 468.15, + 0.0, + -46.05, + 0.0 + ], + [ + 3844.47, + 901.69, + 468.15, + 0.0, + -71.05, + 0.0 + ], + [ + 3844.47, + 901.69, + 468.15, + 0.0, + -96.05, + 0.0 + ], + [ + 3844.47, + 901.69, + 468.15, + 0.0, + -96.05, + 0.0 + ], + [ + 3844.47, + 901.69, + 468.15, + 0.0, + -96.05, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this end of the upstairs hallway I can see a white paneled door set into the wall well off to my left, while my heading points down the open carpeted space. I will turn left to bring that door and the wall it sits in toward the center of my view so I can travel straight at it.", + "The white paneled door is now clearly ahead and slightly left along the wall, with unobstructed carpet between me and it. I will move forward to close the long gap before worrying about fine alignment.", + "The paneled door has grown larger in my view, so my previous forward step carried me usefully toward it. I will continue forward since I am still several strides short of a workable interaction distance.", + "The door and its frame now dominate the left part of my view and the corner of the room is close, but I am still not near enough to reach the handle. I will take another step forward to bring myself alongside the doorway.", + "The white paneled door with its brass handle is close but sitting at the left edge of my view, so I am not facing it squarely. I will turn left to swing my heading onto the door leaf before approaching any further.", + "The paneled door and its lever handle are now centered in front of me with only a short stretch of carpet between us. I will step forward to get within arm's reach of the handle.", + "The door face and brass lever fill most of my view, though the handle still sits toward my left, suggesting I am slightly short and offset. I will move forward once more to close the last of the distance to the door.", + "I am right up against the door, but my view is split between one door panel and the frame edge with wall beyond on the right, so my heading is skewed off the leaf. I will turn left to square up on the door face and its handle side before attempting to open it.", + "The white panel fills my view but the frame edge has slipped off to the left side, so my heading is still slightly skewed across the leaf rather than square onto it. I will turn a little further left to center the door in front of me, which should give a cleaner line for the handle interaction.", + "I am standing right at the paneled leaf with it squarely filling my view, close enough that the latch should be within reach. This is the left-hand white paneled door named in my task, so I will attempt to open it now.", + "The paneled door now stands swung open with the hallway and its furnishings visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y001530_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y001530_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..80f18d7577ec19114fbee747262dce90b9f4bd28 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y001530_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the candle holder on the island.", + "Type": 0, + "Start_Pose": [ + 3318.356, + 1529.579, + 168.15, + 0.0, + -5.054, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3318.356, + 1529.579, + 168.15, + 0.0, + -5.054, + 0.0 + ], + [ + 3443.726, + 1518.491, + 168.15, + 0.0, + -5.054, + 0.0 + ], + [ + 3443.726, + 1518.491, + 168.15, + 0.0, + -30.054, + 0.0 + ], + [ + 3552.663, + 1455.459, + 168.15, + 0.0, + -30.054, + 0.0 + ], + [ + 3659.166, + 1439.642, + 168.15, + 0.0, + -30.054, + 0.0 + ], + [ + 3659.166, + 1439.642, + 168.15, + 0.0, + -55.054, + 0.0 + ], + [ + 3659.166, + 1439.642, + 168.15, + 0.0, + -80.054, + 0.0 + ], + [ + 3659.166, + 1439.642, + 168.15, + 0.0, + -80.054, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the long kitchen island on my left, and a branched candle holder sits on its far countertop near the sink wall. It is still well ahead of me, so I will move forward along the open floor aisle to close that distance.", + "Advancing has brought me alongside the island, and the candle holder now sits at the left edge of my view where it is hard to track. I will turn left to bring the island and its candle holder toward the center of my heading.", + "The turn has put the island and the candle holder in front of me, though the candelabra is still several steps away across the counter. I will move forward to shorten the gap to the island.", + "I am now close to the island edge, and the candle holder stands just off to my left along the countertop. One more forward step should bring me within reach of that part of the island.", + "Standing at the island, the candle holder has slipped out of the middle of my view toward my left side while I am facing the back cabinets. I will turn left to swing my heading back onto it.", + "The candelabra has come back into view but only at the far left margin, partially cut off. Another left turn should place it squarely in front of me at the island.", + "The three branched candle holder now stands centered directly in front of me on the island counter, within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003319_y-000972_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003319_y-000972_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05859020ff3c1a1b71f21f5ec34ce76e1c33a86a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003319_y-000972_z000468_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the closed door on your right.", + "Type": 2, + "Start_Pose": [ + 3319.302, + -972.322, + 468.15, + 0.0, + -34.403, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3319.302, + -972.322, + 468.15, + 0.0, + -34.403, + 0.0 + ], + [ + 3422.878, + -1039.799, + 468.15, + 0.0, + -34.403, + 0.0 + ], + [ + 3422.878, + -1039.799, + 468.15, + 0.0, + -9.403, + 0.0 + ], + [ + 3547.091, + -1058.386, + 468.15, + 0.0, + -9.403, + 0.0 + ], + [ + 3671.259, + -1078.949, + 468.15, + 0.0, + -9.403, + 0.0 + ], + [ + 3671.259, + -1078.949, + 468.15, + 0.0, + -9.403, + 0.0 + ] + ], + "Rationale": [ + "The only closed door in sight is the white paneled one set into the wall to my right, past the desk and hutch. I will walk forward to close the open floor space between us before I swing my heading toward it.", + "The closed white door sits off to my right edge while my heading still points at the desk corner. I will turn right so the door moves toward the center of my view and I can walk straight at it.", + "The closed white door with its brass lever now sits near the middle of my view with open carpet leading to it. I will step forward to shorten that gap.", + "The door fills much of my view now, but its frame and the strip of wall beside it are still visible, so I am not yet standing right at it. I will take one more step forward to come within arm's reach of the handle.", + "The closed door's panels and brass lever fill my view at arm's length. I have arrived at it, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003330_y-000114_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003330_y-000114_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..439f50bcf8886b08ad895ff0a5b44627de282595 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003330_y-000114_z000468_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the room and go to washing machines.", + "Type": 1, + "Start_Pose": [ + 3330.003, + -114.078, + 468.416, + 0.0, + -159.359, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3330.003, + -114.078, + 468.416, + 0.0, + -159.359, + 0.0 + ], + [ + 3330.003, + -114.078, + 468.416, + 0.0, + 175.641, + -0.0 + ], + [ + 3330.003, + -114.078, + 468.416, + 0.0, + 150.641, + -0.0 + ], + [ + 3330.003, + -114.078, + 468.416, + 0.0, + 125.641, + -0.0 + ], + [ + 3330.003, + -114.078, + 468.416, + 0.0, + 100.641, + -0.0 + ], + [ + 3329.61, + 8.969, + 468.361, + 0.0, + 100.641, + -0.0 + ], + [ + 3329.61, + 8.969, + 468.361, + 0.0, + 75.641, + -0.0 + ], + [ + 3360.823, + 130.896, + 468.629, + 0.0, + 75.641, + -0.0 + ], + [ + 3391.607, + 228.054, + 468.791, + 0.0, + 75.641, + -0.0 + ], + [ + 3391.607, + 228.054, + 468.791, + 0.0, + 75.641, + -0.0 + ], + [ + 3391.607, + 228.054, + 468.791, + 0.0, + 75.641, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a blank painted wall and a wicker laundry basket on the floor, with no washing machines anywhere in view. The basket hints this is a utility area, so I will begin a steady leftward scan to reveal the rest of the room.", + "The rotation has brought a soap dispenser and the edge of a dark mat into view beside the basket, which strengthens the impression of a laundry or utility space, but still no machines. I will keep turning left in the same direction to uncover more of that side of the room.", + "Now a deep double sink, countertop and upper cabinets are in front of me, with a window on the far left, so this is clearly the utility room where washers would be. I will continue the leftward scan past the counter to check the far end of the room.", + "At the left edge of my view I can now make out a white front-loading machine with a round glass door against the far wall. I will turn left once more to bring that appliance area fully into the center of my view before approaching.", + "The washer and dryer pair is clearly visible ahead against the far wall, with an open tiled walkway leading toward them. I will walk forward along that clear path to close the distance to them.", + "After stepping forward the machines sit on the left side of my view while the bright window dominates the right. I will turn left to bring the pair of washing machines into the center of my heading so my next steps go straight at them.", + "The two machines are now centered ahead of me with the tall cabinet beside them and clear tile between us. I will walk forward to close in on them.", + "The two washing machines now fill much of my view, with their control panels and detergent boxes plainly visible just ahead. I will take one more step forward to stand directly at them.", + "I am standing right at the pair of appliances, but my view is filled mostly with the wall and the washing powder box on the top surface. I will tilt my gaze down so the machine fronts and control panels come into view and confirm I am directly at the washing machines.", + "Directly before me are the two washing machine fronts with their control panels and round doors, within arm's reach. The task is complete, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003354_y000664_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003354_y000664_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fbc3992d97e9e92ae009c61a017c44c1a437d2dd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003354_y000664_z000468_t4_a/infos.json @@ -0,0 +1,205 @@ +{ + "Instruction": "Turn away from the double-sink vanity, locate the bathroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 3353.859, + 663.982, + 468.15, + 0.0, + -17.037, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -17.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -42.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -67.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -92.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -117.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -142.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + -167.037, + 0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + 167.963, + -0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + 142.963, + -0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + 117.963, + -0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + 92.963, + -0.0 + ], + [ + 3353.859, + 663.982, + 468.15, + 0.0, + 67.963, + -0.0 + ], + [ + 3401.082, + 780.646, + 468.15, + 0.0, + 67.963, + -0.0 + ], + [ + 3401.082, + 780.646, + 468.15, + 0.0, + 67.963, + -0.0 + ], + [ + 3450.158, + 803.007, + 468.15, + 0.0, + 67.963, + -0.0 + ], + [ + 3450.158, + 803.007, + 468.15, + 0.0, + 67.963, + -0.0 + ], + [ + 3450.158, + 803.007, + 468.15, + 0.0, + 67.963, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the double-sink vanity with its mirrors and wall lights filling my view, and no doorway is visible anywhere in this direction. Since the task requires me to turn away from the vanity and find the bathroom door, I will rotate left to begin sweeping the rest of the room.", + "The vanity counter has shifted toward the right side of my view and a tiled wall with a shower curtain is now appearing on the left, but still no door. I will keep rotating left to bring more of the unseen wall into view.", + "I am now looking at the tub alcove with its bright curtained window, which is clearly not the exit I need. Continuing to turn left should sweep past the bathing area toward the walls I have not yet inspected.", + "The tub and curtain still dominate the center of my view, and only plain tiled wall shows to either side, so the door is not here. I will turn left again to keep scanning around the room.", + "The tub has moved to the right and a painted wall with the toilet and a framed picture is coming into view, but there is still no doorway in front of me. I will continue rotating left to inspect the remaining wall sections for the bathroom door.", + "Sweeping left from the vanity has brought only the toilet, a framed picture and the tiled tub alcove into view, with no doorway anywhere in this wall. Since nothing here resembles the bathroom door, I will keep rotating left to bring the unseen part of the room into view.", + "The heading now shows an exterior window and the toilet paper holder, which confirms this is an outside wall rather than the way out. I will continue turning left to scan further around the room for the bathroom door.", + "The window is now centered ahead above a low cabinet top, so this stretch of wall clearly offers no exit. I will turn left again to keep sweeping toward the still unexamined corner of the bathroom.", + "A tall built-in cabinet has come into view on the left of the window, but its narrow panel is storage rather than the room's exit. I will keep rotating left so the wall beyond that cabinet enters my view.", + "Ahead I now see the side of the tall cabinet and a blank wall carrying a light switch, and a switch plate like that usually sits beside a room entrance. I will turn left once more to bring the wall just past it into view where the bathroom door should be.", + "The paneled door with the brass lever is sitting at the far left edge of my view, while the narrow closet-style panel occupies the right side. I will turn left once more to bring that lever-handled door to the center of my heading before moving toward it.", + "The bathroom door is now centered ahead of me with its brass lever clearly on the right side of the leaf, and tiled floor runs straight up to the threshold. I will move forward to close the remaining gap so the handle comes within reach for an opening attempt.", + "I am right up against the door leaf, with the brass lever and deadbolt escutcheon filling the right side of my view. I will try to operate the handle now, which should release the latch and swing the door open.", + "My attempt on the handle left the door exactly as it was, still closed in front of me with the lever unmoved. I may still be slightly short of a reliable interaction pose, so I will edge forward to tighten my position against the leaf before trying the handle again.", + "I am now pressed close against the door panel, having moved in after the earlier handle attempt failed to move it at all. From this tighter position I will try the door again, which should now engage the latch and let it swing open.", + "The door now stands open with the adjoining bedroom visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003355_y-000511_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003355_y-000511_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..015bfdf8efc004fdebd8be1c6e2a6b21ca45da47 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003355_y-000511_z000468_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Look around the floral-wallpapered bedroom for a door and open it.", + "Type": 4, + "Start_Pose": [ + 3354.956, + -510.803, + 468.15, + 0.0, + -79.175, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3354.956, + -510.803, + 468.15, + 0.0, + -79.175, + 0.0 + ], + [ + 3354.956, + -510.803, + 468.15, + 0.0, + -54.175, + 0.0 + ], + [ + 3354.956, + -510.803, + 468.15, + 0.0, + -29.175, + 0.0 + ], + [ + 3354.956, + -510.803, + 468.15, + 0.0, + -4.175, + 0.0 + ], + [ + 3354.956, + -510.803, + 468.15, + 0.0, + 20.825, + -0.0 + ], + [ + 3354.956, + -510.803, + 468.15, + 0.0, + 45.825, + -0.0 + ], + [ + 3442.661, + -420.535, + 468.15, + 0.0, + 45.825, + -0.0 + ], + [ + 3442.661, + -420.535, + 468.15, + 0.0, + 45.825, + -0.0 + ], + [ + 3498.385, + -332.533, + 468.15, + 0.0, + 45.825, + -0.0 + ], + [ + 3498.385, + -332.533, + 468.15, + 0.0, + 45.825, + -0.0 + ], + [ + 3498.385, + -332.533, + 468.15, + 0.0, + 20.825, + -0.0 + ], + [ + 3498.385, + -332.533, + 468.15, + 0.0, + -4.175, + 0.0 + ], + [ + 3498.385, + -332.533, + 468.15, + 0.0, + -29.175, + 0.0 + ], + [ + 3498.389, + -332.576, + 468.15, + 0.0, + -29.175, + 0.0 + ], + [ + 3498.389, + -332.576, + 468.15, + 0.0, + -29.175, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing a built-in wardrobe with paneled cabinet fronts and drawers, which is storage rather than the room door I need. Since no doorway is visible from this heading in the floral-wallpapered room, I will turn right to sweep new wall area into view.", + "The wardrobe has now shifted to my left and the newly revealed wall shows only floral paper and a framed picture, with no doorway. I will continue turning right to keep uncovering unseen wall surfaces in the search for a door.", + "I still see only the long framed seascape on patterned wallpaper, with the wardrobe now at the far left edge of my view. Because no door has entered my view yet, I will turn right again to continue scanning this wall toward the next corner.", + "At the right edge of my view I can just make out a white paneled door with a brass handle, only partly in frame. I will turn right to bring that doorway fully in front of me so I can judge its position and approach line.", + "The paneled door with its brass handle is now fully visible in its frame, but it sits right of my heading rather than straight ahead. I will turn right once more to center the door so I can move toward it and reach the handle.", + "The floral-papered wall ahead now holds a plain white door with a brass handle, and it sits close to the center of my view. It is still several steps away, too far to reach the handle from here. I will move forward to close that gap and get within interaction range of the door.", + "The door now fills most of my view and the brass lever handle is clearly visible on its left edge, so I appear to be standing right at it. This is the door the task asks me to open, and it is still shut with the frame and jamb intact beside it. I will try to open it from this position.", + "My attempt to open this door left it exactly as it was, still shut with the lever unmoved, so my position may be just outside the range where the handle can be worked. The panel and handle remain directly in front of me with no obstruction between us. I will step forward to tighten the distance before trying the handle again.", + "After moving closer I am nearly against the door, with its painted surface and the frame edge filling my view and the wallpaper only at the right. The previous attempt at this door produced no change, but from this tighter position the interaction may register. I will attempt to open it again.", + "Two attempts here have left the door shut, and my view is now dominated by the jamb and frame edge with the handle no longer in sight, so I am probably aimed at the seam rather than the door leaf. The door surface lies to my left in this close view. I will turn left to bring the panel and its handle back into the center of my view for a better aimed attempt.", + "My view is still filled almost entirely by the door's panel edge and frame, with no handle in sight, which explains why my earlier attempt at this door left it shut. I will turn left again to sweep my heading further across the door leaf and bring its latch side into view.", + "I am now looking flat at the door's raised panels, so I am facing the leaf but still not at its handle. One more left turn should shift my aim toward the latch side where the knob and lever should appear.", + "The brass knob and lever handle are now clearly in front of me on the near edge of the door, unlike the blank panel views that came with my earlier unsuccessful attempt. I am close and aimed at the hardware, so I will try to open the door from here.", + "The doorway now stands open onto the lit adjoining room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003356_y-000846_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003356_y-000846_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6df657f75860d3d8f6a2e44646e2eaaec1aa7358 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003356_y-000846_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white front door centered between the two narrow windows.", + "Type": 4, + "Start_Pose": [ + 3355.901, + -846.033, + 168.15, + 0.0, + -80.888, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3355.901, + -846.033, + 168.15, + 0.0, + -80.888, + 0.0 + ], + [ + 3375.833, + -970.304, + 168.15, + 0.0, + -80.888, + 0.0 + ], + [ + 3395.764, + -1094.575, + 168.15, + 0.0, + -80.888, + 0.0 + ], + [ + 3415.696, + -1218.845, + 168.15, + 0.0, + -80.888, + 0.0 + ], + [ + 3415.696, + -1218.845, + 168.15, + 0.0, + -105.888, + 0.0 + ], + [ + 3383.337, + -1298.38, + 168.15, + 0.0, + -105.888, + 0.0 + ], + [ + 3383.337, + -1298.38, + 168.15, + 0.0, + -105.888, + 0.0 + ], + [ + 3383.337, + -1298.38, + 168.15, + 0.0, + -105.888, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white front door with its two narrow sidelight windows is straight ahead across the room, well beyond reach. I will move forward along this heading to close the open floor space between me and it.", + "The target door now fills more of my view and its brass handle is becoming visible, so my heading is still good. I will continue forward since I remain too far away to reach the handle.", + "The door frame and both narrow windows now dominate the view, confirming I am closing on the correct front door. I will advance again to get within arm's reach of the latch.", + "I am very close now, but the door has drifted so that its handle sits at the extreme left edge while the right sidelight window occupies the center of my view. Turning left should swing my heading back onto the door leaf and put the latch in a comfortable central position for interaction.", + "The door leaf with its lever handle and deadbolt is now framed ahead of me after the turn, with the sidelight pushed to the left edge. I will step forward a short distance so the latch is squarely within reach for opening.", + "The brass lever handle and deadbolt of the white front door fill my view at arm's length, so I am correctly positioned at the latch. I will attempt to open the door now.", + "The doorway now stands clear, showing the covered patio and yard beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003361_y-000962_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003361_y-000962_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f7446e879888eb7b5a27c1855448a62342a282 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003361_y-000962_z000468_t0_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the alarm clock on the nightstand.", + "Type": 0, + "Start_Pose": [ + 3361.072, + -961.638, + 468.15, + 0.0, + -122.406, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3361.072, + -961.638, + 468.15, + 0.0, + -122.406, + 0.0 + ], + [ + 3361.072, + -961.638, + 468.15, + 0.0, + -97.406, + 0.0 + ], + [ + 3361.072, + -961.638, + 468.15, + 0.0, + -72.406, + 0.0 + ], + [ + 3361.072, + -961.638, + 468.15, + 0.0, + -47.406, + 0.0 + ], + [ + 3361.072, + -961.638, + 468.15, + 0.0, + -22.406, + 0.0 + ], + [ + 3477.429, + -1009.611, + 468.15, + 0.0, + -22.406, + 0.0 + ], + [ + 3477.429, + -1009.611, + 468.15, + 0.0, + -47.406, + 0.0 + ], + [ + 3477.429, + -1009.611, + 468.15, + 0.0, + -72.406, + 0.0 + ], + [ + 3477.429, + -1009.611, + 468.15, + 0.0, + -97.406, + 0.0 + ], + [ + 3470.394, + -1133.83, + 468.15, + 0.0, + -97.406, + 0.0 + ], + [ + 3461.952, + -1258.485, + 468.15, + 0.0, + -97.406, + 0.0 + ], + [ + 3461.952, + -1258.485, + 468.15, + 0.0, + -122.406, + 0.0 + ], + [ + 3461.952, + -1258.485, + 468.15, + 0.0, + -147.406, + 0.0 + ], + [ + 3461.952, + -1258.485, + 468.15, + 0.0, + -172.406, + 0.0 + ], + [ + 3338.244, + -1269.635, + 468.15, + 0.0, + -172.406, + 0.0 + ], + [ + 3338.244, + -1269.635, + 468.15, + 0.0, + 162.594, + -0.0 + ], + [ + 3309.869, + -1237.369, + 468.15, + 0.0, + 162.594, + -0.0 + ], + [ + 3309.869, + -1237.369, + 468.15, + 0.0, + 162.594, + -0.0 + ], + [ + 3309.869, + -1237.369, + 468.15, + 0.0, + 162.594, + -0.0 + ] + ], + "Rationale": [ + "I can see the small white nightstand with the red alarm clock on it beyond the head of the bed, but the bed and its footboard sit directly across my straight line to it. I will turn right to sweep my view toward the open floor of the room and look for a walkable lane around the bed. This should reveal a clear approach rather than forcing me into the bed frame.", + "The nightstand and its clock have slid to the left side of my view and the bed now spreads across the floor in front of me, so this heading still does not offer a usable path. I will keep turning right to bring more of the open room and its free carpet into view. A wider look to that side should show where I can step without the bed in the way.", + "Turning this way has opened up the far part of the room, with a desk, chair and a broad stretch of empty carpet on the right. I will turn right again to bring that open floor squarely in front of me. That gives me a clear direction to walk before circling back toward the nightstand.", + "The empty carpet, the desk corner and the closed door now sit ahead of me, so the open middle of the room is nearly centered. One more turn to the right should line my heading up with that clear lane so I can step out away from the bed. From there I expect enough space to swing back toward the nightstand wall.", + "The floor straight ahead is bare carpet with the desk to my left and the door further on, so nothing stands in my way. I will step forward to move clear of the bed area and into the open part of the room. This should give me the space I need to turn back toward the nightstand from the free side.", + "My step forward brought me close to the desk and the door panel now fills much of the space in front of me, so continuing straight is no longer useful. I will turn left to start swinging my heading back toward the side of the room where the nightstand and its alarm clock stand. Rotating this way should bring the window wall and bed area back into view.", + "The desk and chair have shifted toward the center and a curtain edge is appearing on my left, but the nightstand is still outside my view. I will continue turning left to keep rotating toward the window wall where the alarm clock sits. Each further step of rotation should bring that side of the room into sight.", + "The window and its curtains are now on my left and a corner of upholstery has appeared at the bottom edge of my view, so I am close to facing the bed side of the room again. I will turn left once more to bring the nightstand wall in front of me. That should put the alarm clock back in sight so I can head straight for it.", + "From here I can see the curtained window ahead and, at the left edge of my view, the white nightstand carrying the small red-lit alarm clock beside the bed. The floor between me and that side of the room is clear carpet, so I will step forward to cut down the remaining distance to the nightstand corner.", + "The window and its curtains now fill most of my view, which tells me the previous step genuinely carried me deeper into the room toward the wall where the nightstand sits. Nothing blocks the carpet in front of me, so I will advance once more to draw level with the bed and nightstand area on my left.", + "I am now close enough to the window that the sill and curtain dominate my view and there is no useful space left to walk straight ahead. The nightstand with the alarm clock was off to my left as I came in, so I will turn left to swing my heading toward that corner of the room.", + "The rotation so far has only brought more window panes into view, so my heading is still short of the nightstand wall. I will keep turning left to bring the bed corner and the nightstand into the center of my view.", + "The patterned wall, the framed seascape picture and the top of the white nightstand are just appearing along the left of my view while the window still occupies the right half. One more left turn should place the nightstand and its alarm clock squarely in front of me.", + "The nightstand is now clearly in front of me with the red-lit alarm clock and a book on its top, and the bed headboard is beside it on the left. Open carpet still separates us, so I will step forward to close in on the nightstand.", + "That step brought me right up to the wall, and the nightstand top with the clock has slipped down into the bottom left corner of my view. I will turn left to bring the alarm clock back toward the center of my view before finishing the approach.", + "The alarm clock is now centered low in my view on the nightstand top, with the bed headboard just to its left, so my heading is right. A short step forward should bring me to standing distance at the nightstand, close enough for the clock to be within reach.", + "I am standing right at the nightstand now, so close that my level gaze only shows patterned wallpaper and the top edge of the bed headboard at the lower left. The clock sits below my line of sight on the nightstand surface, so I will tilt my head down to bring it back into view and confirm I am beside it.", + "The alarm clock is directly in front of me on the nightstand surface, its red display clearly readable at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003367_y-000623_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003367_y-000623_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1749f30e9dfe337f6df48fc2916cdb4c8cbe4a1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003367_y-000623_z000168_t4_a/infos.json @@ -0,0 +1,172 @@ +{ + "Instruction": "Turn away from the bathtub and toilet, find the bathroom door, and open it.", + "Type": 4, + "Start_Pose": [ + 3366.711, + -622.712, + 168.15, + 0.0, + 115.462, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3366.711, + -622.712, + 168.15, + 0.0, + 115.462, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + 140.462, + -0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + 165.462, + -0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -169.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -144.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -119.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -94.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -69.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -44.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + -19.538, + 0.0 + ], + [ + 3366.711, + -622.712, + 168.15, + 0.0, + 5.462, + -0.0 + ], + [ + 3453.002, + -625.264, + 168.15, + 0.0, + 5.462, + -0.0 + ], + [ + 3453.002, + -625.264, + 168.15, + 0.0, + 5.462, + -0.0 + ], + [ + 3453.002, + -625.264, + 168.15, + 0.0, + 5.462, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I am facing the toilet and the drawn shower curtain over the bathtub, which is exactly the direction the task tells me to leave. No doorway is visible in this part of the room, so I will turn right to begin sweeping my view along the walls for the bathroom door.", + "The curtain and the tub edge now fill almost my whole view, so I am still looking at the bathing area rather than any exit. Continuing to rotate right should carry my gaze past the tub toward the room's other walls where a door may be.", + "I can only see the trailing edge of the curtain and a blank stretch of wall above the tub, with no frame or handle anywhere. I will keep turning right to move my view further off the bathtub area.", + "This heading gives me bare wall on the left and curtain fabric on the right, which is still the tub enclosure and offers no exit. Another right turn should continue the sweep toward walls I have not inspected yet.", + "The curtain still spans my view with light spilling over its top, so I remain aimed at the bathing area. I will turn right again to keep scanning past it for a doorway.", + "The curtain has slid to the left side of my view and a plain wall corner now occupies the right, which means I am finally clearing the tub. Turning right again should bring more of that unexplored wall into view where a door could be.", + "Now I see mostly empty wall with only a towel bar at the far left edge, so no exit is framed yet. I will keep rotating right to continue the sweep along this wall.", + "A vertical strip of molding has just appeared at the right edge of my view, which looks like the casing of a doorway rather than more plain wall. I will turn right again to bring that frame and whatever panel sits beside it into the center of my view.", + "Having turned away from the tub and toilet, I now see a white panelled door edge with its hinge entering the right side of my view, so this is the bathroom door I need. I will keep rotating right to bring the full door leaf and its handle into the center of my view before moving.", + "The door is now fully visible with its lever handle and lock sitting right of my view center, which means my heading is still slightly off the door's face. One more turn to the right should square me up with the handle side so I can walk straight in to reach it.", + "I am facing the closed door with its lever handle clearly in view, but I am still several steps back near the towel ring and counter. Moving forward should close that gap and bring the handle within reach for an opening attempt.", + "I am now directly in front of the door with the lever handle and deadbolt filling my view at arm's length, so the handle is clearly within reach. I will attempt to open the door from here, which should swing it clear of the frame.", + "The door now stands open, revealing the room with bookshelves beyond the bathroom threshold. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003372_y-001542_z000150_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003372_y-001542_z000150_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06116a2a60e2f919eb1f610a452d54b9d0eb0127 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003372_y-001542_z000150_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the round table on the patio.", + "Type": 0, + "Start_Pose": [ + 3372.249, + -1541.972, + 149.883, + -0.05, + -94.683, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3372.249, + -1541.972, + 149.883, + -0.05, + -94.683, + 0.0 + ], + [ + 3372.249, + -1541.972, + 149.883, + -0.05, + -69.683, + 0.0 + ], + [ + 3415.949, + -1660.001, + 149.883, + -0.05, + -69.683, + 0.0 + ], + [ + 3415.949, + -1660.001, + 149.883, + -0.05, + -44.683, + -0.0 + ], + [ + 3505.436, + -1748.503, + 149.883, + -0.05, + -44.683, + -0.0 + ], + [ + 3594.922, + -1837.005, + 149.883, + -0.05, + -44.683, + -0.0 + ], + [ + 3594.922, + -1837.005, + 149.883, + -0.05, + -69.683, + 0.0 + ], + [ + 3638.622, + -1955.034, + 149.883, + -0.05, + -69.683, + 0.0 + ], + [ + 3682.322, + -2073.062, + 149.883, + -0.05, + -69.683, + 0.0 + ], + [ + 3682.322, + -2073.062, + 149.883, + -0.05, + -44.683, + -0.0 + ], + [ + 3698.11, + -2074.197, + 148.772, + -0.05, + -44.683, + -0.0 + ], + [ + 3698.11, + -2074.197, + 148.772, + -0.05, + -44.683, + -0.0 + ] + ], + "Rationale": [ + "From here the pool fills most of my view, and the paved patio with its umbrella-shaded round table sits far off at the right edge, partly hidden behind the porch post. I will turn right so that seating area comes into open view ahead of me before I start walking.", + "The patio now opens up ahead on my right, with round tables under umbrellas set out on the paving beyond the pool coping. Nothing blocks the grass strip in front of me, so I will walk forward to close the long gap toward that seating.", + "After closing some distance, the tables and umbrellas have drifted toward the right side of my view while the pool still occupies the ground straight ahead. I will turn right to point my heading at the patio itself so my next steps carry me onto the paving.", + "The patio paving now spreads out directly in front of me with the umbrella-shaded round tables and their chairs centered in my view. The route across the slabs is clear, so I will step forward to keep closing on them.", + "I am on the patio slabs now and the round tables under their umbrellas stand clearly ahead, still several strides off. I will keep walking forward to shorten that remaining distance.", + "The large umbrella on my right is crowding my shoulder and its canopy blocks much of my forward view, while the round table with the pink planters beside it sits off to my left. I will turn left to put that table squarely ahead so I can walk straight in.", + "The round table with its chairs and umbrella is now centered ahead of me, flanked by the flowering planters against the fence. The paving between us is empty, so I will walk forward toward it.", + "The table is close enough now that its umbrella pole and the surrounding chairs fill the middle of my view, but I am still a step or two short of standing at its edge. I will move forward again to come right up to it.", + "The tabletop has swung off to my right and only its near edge and one chair sit in front of me, so my heading is skewed past it. I will turn right to bring the round table back to the middle of my view before I take my last step.", + "The round table is centered under its umbrella now, with the pole rising straight ahead and chairs to either side. Only a short gap of paving remains, so a single small step forward should put me right at its edge.", + "The round patio table fills the view directly in front of me, its edge within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003374_y000493_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003374_y000493_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a77ebb7bfb4512fb65d914740fe0c3a22a54030b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003374_y000493_z000468_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Open the white paneled door to the left of the tall cabinet.", + "Type": 4, + "Start_Pose": [ + 3373.781, + 493.445, + 468.15, + 0.0, + 83.023, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3373.781, + 493.445, + 468.15, + 0.0, + 83.023, + 0.0 + ], + [ + 3389.069, + 618.372, + 468.15, + 0.0, + 83.023, + -0.0 + ], + [ + 3404.357, + 743.299, + 468.15, + 0.0, + 83.023, + -0.0 + ], + [ + 3429.826, + 802.999, + 468.15, + 0.0, + 83.023, + -0.0 + ], + [ + 3429.826, + 802.999, + 468.15, + 0.0, + 83.023, + -0.0 + ], + [ + 3429.826, + 802.999, + 468.15, + 0.0, + 83.023, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see the white paneled door set in the far wall, to the left of the tall white cabinet on the right side of the room. It is still several paces away across the tiled floor, and the path ahead is clear of the vanity and shelving. I will move forward to close that distance and bring the door within reach.", + "The paneled door now fills much of my view and its brass lever handle is clearly visible on the right side of the door. I am still too far back to act on the handle directly. I will keep moving forward to reach an interaction distance.", + "I am close to the door now, with the panels and the brass lever handle filling my view straight ahead. A short step more should place me squarely in front of the door leaf and within comfortable reach of the handle. I will advance slightly to finish closing that gap.", + "I am directly against the white paneled door, with its raised panel detail filling my view, so I am within reach of the latch. This is the door left of the tall cabinet that the task names. I will attempt to open it, which should swing the leaf inward.", + "The paneled door now stands swung open, revealing the carpeted bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003387_y-000397_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003387_y-000397_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a004fb3e187f66ad09b6de32ac9aadb65d33c662 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003387_y-000397_z000468_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Turn away from the window and search the floral-wallpapered room for a door, then open it.", + "Type": 4, + "Start_Pose": [ + 3386.795, + -397.453, + 468.15, + 0.0, + 175.713, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3386.795, + -397.453, + 468.15, + 0.0, + 175.713, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -159.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -134.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -109.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -84.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -59.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -34.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + -9.287, + 0.0 + ], + [ + 3386.795, + -397.453, + 468.15, + 0.0, + 15.713, + -0.0 + ], + [ + 3498.238, + -363.836, + 468.15, + 0.0, + 15.713, + -0.0 + ], + [ + 3498.238, + -363.836, + 468.15, + 0.0, + 15.713, + -0.0 + ], + [ + 3498.238, + -363.836, + 468.15, + 0.0, + 15.713, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing straight into the window with the desk chair right in front of me, so no door is visible from this heading. The task tells me to turn away from the window and sweep this floral-wallpapered room, so I will begin rotating to the right. This first step should start bringing unseen wall to my right into view.", + "The window has slid to the left side of my view and I now see floral wallpaper, a framed picture, and the end of a bed on the right, but still no door. Continuing the same rightward rotation is the efficient way to keep uncovering new wall. I will turn right again to extend the sweep.", + "Now the bed and a tall white wardrobe dominate the right of my view while the curtained window trails off at my left, and none of the visible panels is a doorway. Since the sweep is still returning furniture rather than a door, I will keep rotating right. More of the far wall should come into view.", + "The wardrobe and its drawer stack are centered ahead with the bed in the foreground, and those tall panels are cabinet doors, not a room exit. I will continue turning right to move past this furniture wall. The next stretch of wallpaper should reveal whether a real door sits along it.", + "The wardrobe is drifting toward my left and a plain floral wall with a long framed seascape is opening on the right, still without any doorway. Keeping the rotation in the same direction avoids re-scanning what I have already checked. I will turn right once more.", + "Ahead of me is mostly blank floral wall under the seascape, but at the very right edge I can just catch a pale vertical surface with brass hardware that could be a door. That edge is too clipped to judge, so I will turn right to bring it properly into view.", + "The pale surface at my right is now clearly a paneled white door with a brass lever handle and keyhole, so the search target is found. It still sits off to the right of my heading rather than in front of me. I will turn right to bring the door toward the center of my view.", + "The door with its brass handle is nearly ahead but still biased to the right of my facing, with the frame edge visible on that side. One more small rotation right should square me up with the door leaf before I close in on it. I will turn right again.", + "The white paneled door is now centered in front of me, framed by the floral wallpaper, but I am still a step or two back from its handle. I will move forward to close that gap so the latch comes within reach for an opening attempt.", + "I am pressed right up against the door, with its panels filling my view, so I should be well within reach of the latch. I will try to open it now, which should swing the door clear of the frame.", + "The door now stands swung open, revealing the lit hallway beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003387_y000965_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003387_y000965_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c74724d2a38a2d7ce638215355cc200df84f177 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003387_y000965_z000169_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "First, walk to the fireplace, then walk to the dining table.", + "Type": 3, + "Start_Pose": [ + 3386.865, + 964.782, + 168.91, + 0.0, + 139.689, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3386.865, + 964.782, + 168.91, + 0.0, + 139.689, + 0.0 + ], + [ + 3386.865, + 964.782, + 168.91, + 0.0, + 114.689, + -0.0 + ], + [ + 3386.865, + 964.782, + 168.91, + 0.0, + 89.689, + -0.0 + ], + [ + 3387.548, + 1090.639, + 168.91, + 0.0, + 89.689, + -0.0 + ], + [ + 3388.231, + 1216.496, + 168.91, + 0.0, + 89.689, + -0.0 + ], + [ + 3394.142, + 1340.14, + 168.15, + 0.0, + 89.689, + -0.0 + ], + [ + 3394.142, + 1340.14, + 168.15, + 0.0, + 114.689, + -0.0 + ], + [ + 3341.572, + 1454.494, + 168.15, + 0.0, + 114.689, + -0.0 + ], + [ + 3341.572, + 1454.494, + 168.15, + 0.0, + 139.689, + -0.0 + ], + [ + 3263.98, + 1512.942, + 173.782, + 0.0, + 139.689, + -0.0 + ], + [ + 3263.98, + 1512.942, + 173.782, + 0.0, + 139.689, + -0.0 + ], + [ + 3263.98, + 1512.942, + 173.782, + 0.0, + 164.689, + -0.0 + ], + [ + 3263.98, + 1512.942, + 173.782, + 0.0, + -170.311, + 0.0 + ], + [ + 3140.041, + 1498.96, + 168.194, + 0.0, + -170.311, + 0.0 + ], + [ + 3140.041, + 1498.96, + 168.194, + 0.0, + -145.311, + 0.0 + ], + [ + 3040.583, + 1482.646, + 168.352, + 0.0, + -145.311, + 0.0 + ], + [ + 3040.583, + 1482.646, + 168.352, + 0.0, + -120.311, + 0.0 + ], + [ + 3040.583, + 1482.646, + 168.352, + 0.0, + -95.311, + 0.0 + ], + [ + 3006.238, + 1400.401, + 168.352, + 0.0, + -95.311, + 0.0 + ], + [ + 2994.588, + 1275.082, + 168.352, + 0.0, + -95.311, + 0.0 + ], + [ + 2994.588, + 1275.082, + 168.352, + 0.0, + -70.311, + 0.0 + ], + [ + 3036.409, + 1185.504, + 168.15, + 0.0, + -70.311, + 0.0 + ], + [ + 3036.409, + 1185.504, + 168.15, + 0.0, + -70.311, + 0.0 + ] + ], + "Rationale": [ + "From here the tiled fireplace with its white mantel sits far off to my left, behind the long sofa, while the dining table is off to my right. Since the hearth is the destination I want first, I will turn left to swing my heading toward that side of the room.", + "The fireplace is now in view ahead, but the sofa stretches directly across the line between me and it, so a straight walk would run into its back. Turning left again should point me down the open floor beside the kitchen, giving a clear lane along the room.", + "The floor ahead of me is clear all the way past the kitchen island and the sofa now sits off to my right rather than across my path. I will walk forward along this open lane to cut down the distance to the tiled fireplace.", + "The kitchen cabinets and the fireplace surround have both grown noticeably larger, so my heading is carrying me deeper into the room as intended. Nothing blocks the boards in front of me, so I will keep walking to close further on the hearth.", + "The mantel and its tiled chimney breast now fill much of the right side, meaning I am nearly level with the hearth but still short of it. Another step forward should bring me alongside the fireplace before I turn to face it.", + "I have come far enough that the fireplace has slid to the right edge of my view while cabinetry fills the space straight ahead. Turning right should bring the mantel and firebox back into the middle of my view so I can walk straight at it.", + "The fireplace with its raised tile hearth now sits ahead and slightly right, with clear floor between me and it. I will step forward to close the remaining gap to the hearth.", + "I am right up against the mantel now, but it has drifted into the right half of my view with the tall plant and blank wall on my left. A turn to the right should square me onto the fireplace itself.", + "The carved mantel and the dark firebox now fill most of my view just ahead and slightly to my left, so only a short gap of floor remains. I will step forward to close that gap and stand right at the hearth.", + "The white mantel shelf and the tiled surround are right at arm's length, close enough that they crowd my whole view, which tells me I am standing at the fireplace. I have arrived at it. I mark reaching the fireplace and then set off for the dining table under the chandelier.", + "Standing at the hearth, the tiled surround blocks nearly everything in front of me, so there is nothing more to gain facing this wall. The dining table sits back across the room past the curtained windows to my right, so I will turn right to swing my heading off the fireplace.", + "The corner cabinet and one curtained window have come into view, but the wider open floor leading toward the dining area still lies further around to my right. I will turn right again to bring that side of the room in front of me.", + "The bank of curtained windows and the sofa are ahead of me with clear floor running between them, and the dining area lies beyond that stretch. I will walk forward to cover part of this open distance.", + "I have come up close to the cabinets and the curtained window, and that wall now fills the space straight ahead of me. The room continues to my right along the window side, so I will turn right to face that open direction.", + "Facing along the window wall, the floor runs clear ahead and pale chairs are just showing at the far right edge of my view. I will step forward to advance along this wall toward the dining area.", + "The tall window now dominates my view while the room opens further around to my right, which is where the dining table stands. I will turn right to bring the table back in front of me.", + "The dining table with its chandelier sits well off to my right, past the corner window bay, while most of my view is still filled by glass and curtains. I will turn right again to bring that table nearer the center of my heading before advancing.", + "The dining table and its chandelier now lie roughly ahead of me, with clear open floor between the window wall and the sofa. I will step forward along that lane to close the remaining distance to the table.", + "The table and chairs have grown noticeably larger ahead of me and the floor between us is still clear. I will keep walking forward to reach the table itself.", + "I am close now, but the table has drifted to the right side of my view with only its near corner in front of me. A turn to the right should square me onto the table before I take the last step.", + "The dining table now fills the center of my view with its chairs and candelabra directly ahead. One more step forward should bring me right up to its edge.", + "The dining table's edge and candelabra are directly before me, within arm's reach. I have reached the dining table, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003393_y001085_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003393_y001085_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f0284f10746880e381f908c054da82c8ef39020a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003393_y001085_z000468_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the window on the right.", + "Type": 2, + "Start_Pose": [ + 3393.337, + 1084.972, + 468.15, + 0.0, + 173.564, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3393.337, + 1084.972, + 468.15, + 0.0, + 173.564, + 0.0 + ], + [ + 3268.271, + 1099.08, + 468.15, + 0.0, + 173.564, + -0.0 + ], + [ + 3268.271, + 1099.08, + 468.15, + 0.0, + -161.436, + 0.0 + ], + [ + 3148.961, + 1059.011, + 468.15, + 0.0, + -161.436, + 0.0 + ], + [ + 3029.65, + 1018.942, + 468.15, + 0.0, + -161.436, + 0.0 + ], + [ + 3029.65, + 1018.942, + 468.15, + 0.0, + 173.564, + -0.0 + ], + [ + 2968.836, + 1031.376, + 468.15, + 0.0, + 173.564, + -0.0 + ], + [ + 2968.836, + 1031.376, + 468.15, + 0.0, + 173.564, + -0.0 + ] + ], + "Rationale": [ + "Two curtained windows sit on the far wall ahead of me, and the right one, the one nearer the fireplace with a leafy tree filling its panes, is my target. I am still well back across the carpet, so I walk straight forward to close most of that open distance before committing to a heading.", + "From here the wall fills my view and the window with the tree behind it sits off to my right, while my body still points between the two openings. I turn right to bring that window toward the center of my heading so I can walk straight at it.", + "The window beside the fireplace now sits near the middle of my view with clear carpet between me and it. Nothing blocks the path, so I step forward to shorten the remaining gap to the wall.", + "The window frame and its sill are much larger now, with the sky and the neighboring roof clearly visible through the glass. I am still a few paces short of standing at it, so I continue walking forward.", + "Up this close the window has slid to the left edge of my view and the curtain and blank wall take up most of what I see. I turn left to swing the glass back in front of me so I finish squarely facing it.", + "The window is centered in front of me now, with its sill and the house across the way plainly in view. A short step forward should bring me right up to the sill.", + "I stand right at the glass of the window beside the fireplace, the yard and street filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003398_y-001297_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003398_y-001297_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..57b3efc39d8ec36bfb6b2e75cc2f6ac439eb2cae --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003398_y-001297_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the plant on the small table.", + "Type": 0, + "Start_Pose": [ + 3397.804, + -1297.278, + 168.15, + -0.05, + 118.331, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3397.804, + -1297.278, + 168.15, + -0.05, + 118.331, + 0.0 + ], + [ + 3338.076, + -1186.494, + 168.15, + -0.05, + 118.331, + 0.0 + ], + [ + 3278.348, + -1075.711, + 169.148, + -0.05, + 118.331, + 0.0 + ], + [ + 3278.348, + -1075.711, + 169.148, + -0.05, + 93.331, + 0.0 + ], + [ + 3271.035, + -950.064, + 169.399, + -0.05, + 93.331, + 0.0 + ], + [ + 3259.677, + -844.243, + 168.15, + -0.05, + 93.331, + 0.0 + ], + [ + 3259.677, + -844.243, + 168.15, + -0.05, + 68.331, + 0.0 + ], + [ + 3259.677, + -844.243, + 168.15, + -0.05, + 68.331, + 0.0 + ] + ], + "Rationale": [ + "From here I can already see a leafy potted plant sitting on a small wooden console table against the left wall, past the sectional sofa. It is far off, so I will move forward across the open floor to begin closing that distance.", + "The console table and its potted plant now appear larger and lower in my view, confirming I am heading roughly the right way. There is still clear floor ahead, so I will advance again to keep shrinking the gap.", + "After closing in, the small table with the plant has slid to the far left edge of my view while the sofa dominates the center. I will turn left to bring the plant back toward the middle of my heading before continuing.", + "The turn worked, and the small table with the potted plant now sits near the center of my view against the wall. With clear floor between us, I will move forward to approach it directly.", + "The plant and its table now fill much of the lower left of my view, so I am only a short step away. I will move forward once more to settle into a close standing position beside it.", + "Standing this close, my view is mostly blank wall with only a single plant leaf clipping the left edge. I will turn left to swing the plant back into the center of my view.", + "The potted plant on the small table now fills the near foreground directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003398_y001108_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003398_y001108_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb754345b8ea556830487d2d9bddd926d302171 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003398_y001108_z000468_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the white paneled door to the left of the louvered wardrobe.", + "Type": 4, + "Start_Pose": [ + 3397.934, + 1107.709, + 468.15, + 0.0, + -4.328, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3397.934, + 1107.709, + 468.15, + 0.0, + -4.328, + 0.0 + ], + [ + 3523.434, + 1098.211, + 468.15, + 0.0, + -4.328, + 0.0 + ], + [ + 3523.434, + 1098.211, + 468.15, + 0.0, + -29.328, + 0.0 + ], + [ + 3633.162, + 1036.564, + 468.15, + 0.0, + -29.328, + 0.0 + ], + [ + 3742.89, + 974.917, + 468.15, + 0.0, + -29.328, + 0.0 + ], + [ + 3742.89, + 974.917, + 468.15, + 0.0, + -54.328, + 0.0 + ], + [ + 3814.23, + 901.9, + 468.15, + 0.0, + -54.328, + 0.0 + ], + [ + 3814.23, + 901.9, + 468.15, + 0.0, + -54.328, + 0.0 + ], + [ + 3814.23, + 901.9, + 468.15, + 0.0, + -54.328, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the doorway of this empty carpeted room I can see the louvered wardrobe on the right wall and the white paneled door set into the far left wall, which is my target. The open floor ahead is clear, so I will move forward to close the large gap before working on my heading.", + "The paneled door now sits well off to the left edge of my view while I am still facing the blank far wall. I will turn left to bring that door toward the center of my heading before advancing further.", + "The white paneled door is now inside my view ahead, framed by the corner walls, and it is still several steps away. With open carpet between me and it, I will move forward to shorten that distance.", + "The paneled door is larger now and I can make out its handle, but I am not yet close enough to reach it. I will continue forward to bring myself within interaction range of the door.", + "I am close to the door, but it has drifted to the left side of my view with the bare corner wall occupying the right half. I will turn left to square my heading onto the door leaf and its handle.", + "The white paneled door is now centered in front of me with its lever handle and deadbolt clearly in view, though there is still a short gap of carpet before it. I will step forward so the handle is within reach for an opening attempt.", + "I am now directly in front of the white paneled leaf, close enough that its panels fill my view and the jamb sits at the right edge. This is the paneled door on the wall away from the louvered wardrobe, so I will attempt to open it from here.", + "The white paneled door now stands swung open, revealing the hallway and seating area beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003403_y001169_z000169_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003403_y001169_z000169_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c209655a28c13732f659841d733351ec34a076e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003403_y001169_z000169_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the kitchen sink and go to it.", + "Type": 1, + "Start_Pose": [ + 3403.294, + 1169.404, + 168.941, + 0.0, + -136.873, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + -136.873, + 0.0 + ], + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + -161.873, + 0.0 + ], + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + 173.127, + -0.0 + ], + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + 148.127, + -0.0 + ], + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + 123.127, + -0.0 + ], + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + 98.127, + -0.0 + ], + [ + 3403.294, + 1169.404, + 168.941, + 0.0, + 73.127, + -0.0 + ], + [ + 3439.825, + 1289.845, + 168.297, + 0.0, + 73.127, + -0.0 + ], + [ + 3476.355, + 1410.286, + 168.297, + 0.0, + 73.127, + -0.0 + ], + [ + 3476.355, + 1410.286, + 168.297, + 0.0, + 48.127, + -0.0 + ], + [ + 3560.364, + 1504.004, + 168.297, + 0.0, + 48.127, + -0.0 + ], + [ + 3560.364, + 1504.004, + 168.297, + 0.0, + 73.127, + -0.0 + ], + [ + 3560.364, + 1504.004, + 168.297, + 0.0, + 73.127, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a dining table under a chandelier, a side cabinet, and a hallway through the arch on the right, with no sink or kitchen counter anywhere in view. Since the kitchen is not visible from this heading, I will begin a leftward scan to sweep the adjoining space for sink fixtures or cabinetry.", + "The rotation has brought a curtained window wall and the arm of a large sofa into the left of my view, so this side opens into a living area rather than a kitchen. No faucet or sink counter is visible yet, so I will keep turning left in the same direction to continue the sweep.", + "Now I can see the sofa spanning the room and, at the far left edge, tall white cabinets with glass doors and a small counter, which is a promising cue toward the kitchen area. I will continue turning left to bring that cabinetry fully into view.", + "The view now centers on a fireplace and the back of the sofa, with the cabinet nook only partly visible to its left. I will keep the same leftward rotation to swing past the fireplace toward that cabinetry, where a sink is more likely.", + "I can see the fireplace ahead with white cabinets and a plant on both sides, but the counter itself is still cut off at the left edge. Continuing the leftward turn should place the cabinet run and any sink basin squarely in front of me.", + "A kitchen counter with a faucet and lower cabinets is now visible on the far left, next to a refrigerator, so the kitchen sink is very likely just off my current heading. I will turn left once more to bring that counter and faucet toward the center of my view.", + "The kitchen is now clearly ahead of me, with a range, upper cabinets, a refrigerator, and a faucet over a counter run to the left of the fridge. The floor between me and that counter looks clear, so I will walk forward to close the distance to the sink.", + "I am closer now and the sink with its tall faucet is plainly visible on the counter to the left of the refrigerator. There is still open floor in front of me, so I will step forward again to get within reach of the basin.", + "I am now close to the kitchen counter, and the double basin sink with its tall faucet sits at the left edge of my view while the refrigerator fills the right. Turning left should bring that sink run into the center of my heading so I can walk straight at it.", + "The sink with its faucet is now clearly ahead along the counter, with open floor between me and the cabinets below it. I will step forward to close the remaining distance to the sink.", + "I am right at the counter now and the twin sink basins fill the lower view, but the faucet and the second basin sit off toward the right side. A small turn right should square me onto the sink instead of the stove and range hood on the left.", + "The kitchen sink with its faucet is directly in front of me at arm's length. The search and approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003410_y001087_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003410_y001087_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8db7c85612f3417e3b83d206701d7b4d1eed13a2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003410_y001087_z000169_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First go to the chair, then go to the fridge.", + "Type": 3, + "Start_Pose": [ + 3410.082, + 1086.504, + 168.887, + -0.05, + 39.756, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3410.082, + 1086.504, + 168.887, + -0.05, + 39.756, + -0.0 + ], + [ + 3506.839, + 1166.993, + 168.15, + -0.05, + 39.756, + -0.0 + ], + [ + 3506.839, + 1166.993, + 168.15, + -0.05, + 14.756, + -0.0 + ], + [ + 3628.547, + 1199.05, + 168.15, + -0.05, + 14.756, + -0.0 + ], + [ + 3628.547, + 1199.05, + 168.15, + -0.05, + -10.244, + -0.0 + ], + [ + 3628.547, + 1199.05, + 168.15, + -0.05, + -10.244, + -0.0 + ], + [ + 3537.62, + 1215.482, + 168.15, + -0.05, + -10.244, + -0.0 + ], + [ + 3537.62, + 1215.482, + 168.15, + -0.05, + 14.756, + -0.0 + ], + [ + 3537.62, + 1215.482, + 168.15, + -0.05, + 39.756, + 0.0 + ], + [ + 3537.62, + 1215.482, + 168.15, + -0.05, + 64.756, + 0.0 + ], + [ + 3498.214, + 1131.907, + 168.15, + -0.05, + 64.756, + 0.0 + ], + [ + 3498.214, + 1131.907, + 168.15, + -0.05, + 89.756, + 0.0 + ], + [ + 3498.75, + 1257.764, + 168.15, + -0.05, + 89.756, + 0.0 + ], + [ + 3499.286, + 1383.622, + 168.15, + -0.05, + 89.756, + 0.0 + ], + [ + 3499.822, + 1509.48, + 168.15, + -0.05, + 89.756, + 0.0 + ], + [ + 3499.822, + 1509.48, + 168.15, + -0.05, + 89.756, + 0.0 + ] + ], + "Rationale": [ + "From the kitchen doorway I can see the wooden chair tucked against the far left counter, with the white fridge standing off to the right. The chair is my first stop and it is well across the room, so I will walk straight ahead to cut the distance before angling toward it.", + "Advancing has brought the island directly in front of me and pushed the chair out to the left edge of my view. To keep heading toward the chair rather than into the island, I will turn left so that the left corner of the kitchen opens up ahead of me.", + "The turn has placed the chair back in view at the left, standing against the counter with clear floor between us. Nothing blocks that stretch of floor, so I will walk forward to close on it.", + "I am now close to the run of cabinets, and the chair has slipped to the very bottom left of my view while the counter fills the frame. Turning left should swing my heading onto the chair so I can judge how near I already am.", + "The tan upholstered chair now stands right in front of me at arm's reach, its back and seat filling the lower part of my view beside the counter corner. I have reached the chair. I mark reaching it, and now I am setting off for the white fridge on the far side of the kitchen.", + "I am pressed up against the chair and the corner counter, with the wall close on my left, so there is little room to swing around here. Stepping back should give me clearance to rotate toward the fridge without scraping the chair.", + "Backing off has opened floor around me, and the chair now sits clear to my left with the counter run stretching right. The fridge lies well around to my right, so I will begin turning that way to bring the opposite side of the kitchen into view.", + "The rotation has brought the island and the range wall into view, but the tall white fridge is still further around to my right. I will keep turning right to carry my heading past the island toward that side of the room.", + "Facing the range wall, I still see no fridge along the cabinets ahead of me, so this heading is not the one I want. I will keep rotating right to bring the far end of the kitchen into view, where a tall appliance is more likely to stand.", + "The white fridge is now visible to my right beyond the end of the island, but the island counter runs directly across my front and leaves me no straight line to it. I will step back to gain clearance from the island so I can turn and take the open floor along its side.", + "From this pulled back position I can see the whole island and the fridge standing off to my right against the far wall. Turning right should swing my heading off the island and put the fridge and the open floor beside it in front of me.", + "The fridge now sits ahead of me beside the glass-fronted tall cabinets, with clear floor between us. I will walk forward to close that distance.", + "The fridge has grown larger and stays squarely ahead of me, so my heading is good and nothing stands in the way. Another step forward should bring me appreciably nearer to it.", + "The fridge and its handles now fill much of my view, yet there is still a short gap of floor before it. I will take one more step forward to stand right at the appliance.", + "The fridge door and its handle fill my view at arm's length. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003411_y-001040_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003411_y-001040_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88d5bb6a0120e77ee3775f9638eead1ed0d65bbd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003411_y-001040_z000468_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Find the office chair and go to it.", + "Type": 1, + "Start_Pose": [ + 3410.793, + -1039.757, + 468.15, + 0.0, + 145.434, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + 145.434, + -0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + 170.434, + -0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + -164.566, + 0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + -139.566, + 0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + -114.566, + 0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + -89.566, + 0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + -64.566, + 0.0 + ], + [ + 3410.793, + -1039.757, + 468.15, + 0.0, + -39.566, + 0.0 + ], + [ + 3505.967, + -1089.79, + 468.15, + 0.0, + -39.566, + 0.0 + ], + [ + 3602.99, + -1169.958, + 468.15, + 0.0, + -39.566, + 0.0 + ], + [ + 3602.99, + -1169.958, + 468.15, + 0.0, + -39.566, + 0.0 + ], + [ + 3602.99, + -1169.958, + 468.15, + 0.0, + -39.566, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a tall white wardrobe and dresser against patterned wallpaper, with no office chair anywhere in sight. I will turn right to begin a consistent scan of this room and open up the parts of it hidden behind my current heading.", + "Sweeping right has revealed a framed picture and the corner of a bed, so this is a bedroom, but still no office chair. I will keep rotating in the same direction to bring more of the room into view.", + "I now see the full bed with two pictures above it and a nightstand with a clock, none of which is the office chair. Continuing the same rightward scan should expose the wall and floor space beyond the nightstand.", + "A curtained window has come into view past the nightstand, and there is still no chair in this part of the room. I will turn right again, since the remaining unscanned corner beyond the window is the likeliest place for a desk area.", + "The window wall is now centered in front of me with only the bed and nightstand along the side, so the chair must be further around. I will continue the rightward rotation toward the unseen corner of the room.", + "At the right edge of my view a worktop with a small lamp and cabinet is appearing, which is a strong cue for a desk area where an office chair would sit. I will turn right again to bring that corner fully into view.", + "The desk corner is now visible and a dark office chair sits at it, slightly to the right of my heading. I will turn right once more to bring the chair closer to the center of my view before walking toward it.", + "The office chair is now clearly framed ahead of me at the desk, with open carpet between us and no obstruction in the way. I will walk forward to close the distance to it.", + "The office chair is clearly in front of me at the corner desk, still a couple of steps away with open carpet between us. I will walk forward again to close that remaining gap and stand right at the chair.", + "I am now right at the desk, and the hutch and desktop fill my view while only the edge of the chair shows at the lower left. Tilting my head down should bring the office chair beside me fully into view so I can confirm I am standing at it.", + "The office chair is directly beside me at arm's length, clearly within reach at the desk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003421_y-000903_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003421_y-000903_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87b83d5bcbc3d7262af460423cf85a67b34075a5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003421_y-000903_z000468_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "First go to the alarm clock, then go to the leather chair.", + "Type": 3, + "Start_Pose": [ + 3420.812, + -903.342, + 468.15, + 0.0, + -92.646, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3420.812, + -903.342, + 468.15, + 0.0, + -92.646, + 0.0 + ], + [ + 3420.812, + -903.342, + 468.15, + 0.0, + -67.646, + 0.0 + ], + [ + 3468.68, + -1019.743, + 468.15, + 0.0, + -67.646, + 0.0 + ], + [ + 3468.68, + -1019.743, + 468.15, + 0.0, + -92.646, + 0.0 + ], + [ + 3470.384, + -1143.853, + 468.15, + 0.0, + -92.646, + 0.0 + ], + [ + 3470.384, + -1143.853, + 468.15, + 0.0, + -117.646, + 0.0 + ], + [ + 3470.384, + -1143.853, + 468.15, + 0.0, + -142.646, + 0.0 + ], + [ + 3462.798, + -1213.831, + 468.15, + 0.0, + -142.646, + 0.0 + ], + [ + 3462.798, + -1213.831, + 468.15, + 0.0, + -167.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -167.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -167.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -142.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -117.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -92.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -67.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -42.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + -17.646, + 0.0 + ], + [ + 3352.584, + -1250.969, + 468.15, + 0.0, + 7.354, + -0.0 + ], + [ + 3477.408, + -1234.859, + 468.15, + 0.0, + 7.354, + -0.0 + ], + [ + 3580.839, + -1205.182, + 468.15, + 0.0, + 7.354, + -0.0 + ], + [ + 3580.839, + -1205.182, + 468.15, + 0.0, + 7.354, + -0.0 + ], + [ + 3580.839, + -1205.182, + 468.15, + 0.0, + 7.354, + -0.0 + ] + ], + "Rationale": [ + "I can see the small red alarm clock on the nightstand beside the bed, but the bed itself sits directly between me and it. Turning right swings my heading onto the open carpet along the desk side, which should give me a clear lane to walk before I curve back toward the nightstand.", + "The carpet ahead of me is clear all the way to the window and desk, with nothing between me and that open middle of the room. I will walk forward to gain ground into the room so I can then swing back around the foot of the bed toward the clock.", + "I have advanced into the middle of the room and the desk corner now sits close on my right. Turning left brings the window wall square in front of me, pointing my path back toward the bed side where the clock sits on its nightstand.", + "The floor between me and the curtained window is empty, and the nightstand I am heading for stands further along this same wall. Stepping forward should close most of the remaining distance to that wall before I turn toward the clock.", + "I am now right up against the window, so the glass fills my view and the clock is nowhere in front of me. Turning left should bring the bed corner of the room, where the nightstand stands, back into sight.", + "The turn has brought a white cabinet top and the framed picture into the left of my view, so the bed corner is close but still off to that side. I will turn left once more to put the nightstand and its clock squarely ahead of me.", + "The red alarm clock is now clearly visible on the nightstand ahead of me, with the bed just beyond it on the left. I will step forward along the open carpet to shorten the gap to that nightstand.", + "My step has carried me close to the nightstand, but the window edge is crowding my right and the clock has slipped to the lower left of my view. Turning left should center the nightstand and its red display so my next steps run straight at it.", + "The small white nightstand with the red-lit alarm clock now sits squarely ahead of me, only a couple of paces away beside the bed. I will walk forward to close that remaining gap and stand right at the clock.", + "The nightstand top fills the lower part of my view, with the red digits of the alarm clock glowing right beside me. I have arrived at the alarm clock, so I mark reaching it before I set off toward the leather chair at the desk.", + "Standing at the clock, I face into the corner where wall and picture fill everything, so the leather chair is nowhere in my view. I will turn right to begin swinging my heading back toward the desk side of the room.", + "The turn has brought the hanging curtain into view, but still only wall and fabric, not the chair I want. I will keep rotating right to carry my heading further around toward the open part of the room.", + "Now the curtain and a sliver of window sit in front of me, so my heading is still pinned to the outside wall. Another right turn should sweep me past this wall toward the desk area where the leather chair stands.", + "I am looking straight out through the window panes at the houses outside, which means I am still aimed at the wall rather than into the room. I will continue turning right to bring the interior back in front of me.", + "I still see only window glass and the roofs beyond it, so my heading has not yet come around far enough to catch the desk. I will turn right again, expecting the room's furnished corner to enter my view.", + "At the right edge of my view the desk and the dark back of the leather chair have finally appeared beyond the curtain. I will turn right once more to bring that chair toward the center of my heading so I can walk to it.", + "The dark leather office chair at the desk is now visible ahead but still sits off to the right of my heading, with the curtain edge cutting into the left of my view. One more turn to the right should center it so I can walk straight at it.", + "The leather chair now sits roughly ahead of me at the desk with open carpet between us and no furniture in the way. I will walk forward to close that gap.", + "The leather chair has grown much larger and is slightly left of my heading, so I am close but not yet beside it. Another step forward should bring me right up to it.", + "My gaze is aimed at the upper desk hutch and the door, so the chair has passed below my field of view even though I should now be standing right at it. I will look down to bring the leather chair back into sight and confirm I am beside it.", + "The leather chair is directly beside me at the desk, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003434_y000643_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003434_y000643_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0610b2c1f50ef6142a46094c164c99961f33861 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003434_y000643_z000169_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the floor lamp.", + "Type": 0, + "Start_Pose": [ + 3433.699, + 642.661, + 168.903, + 0.0, + 72.653, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3433.699, + 642.661, + 168.903, + 0.0, + 72.653, + -0.0 + ], + [ + 3471.225, + 762.796, + 168.903, + 0.0, + 72.653, + -0.0 + ], + [ + 3471.225, + 762.796, + 168.903, + 0.0, + 97.653, + -0.0 + ], + [ + 3454.464, + 887.533, + 168.903, + 0.0, + 97.653, + -0.0 + ], + [ + 3437.703, + 1012.271, + 168.903, + 0.0, + 97.653, + -0.0 + ], + [ + 3437.703, + 1012.271, + 168.903, + 0.0, + 122.653, + -0.0 + ], + [ + 3369.796, + 1118.239, + 168.903, + 0.0, + 122.653, + -0.0 + ], + [ + 3369.796, + 1118.239, + 168.903, + 0.0, + 97.653, + -0.0 + ], + [ + 3369.198, + 1227.394, + 168.15, + 0.0, + 97.653, + -0.0 + ], + [ + 3369.198, + 1227.394, + 168.15, + 0.0, + 97.653, + -0.0 + ] + ], + "Rationale": [ + "From this doorway I can see a lit floor lamp standing beside the fireplace in the living room off to the right, well beyond the kitchen island. The floor straight ahead is open, so I will move forward to leave the archway and get a clearer, closer line on that lamp.", + "After advancing, the tall cabinetry now fills my left side and the lamp sits far to my right near the fireplace. I will turn right to bring the living room and the lamp closer to the center of my heading before continuing.", + "The lamp with its glowing shade is now ahead of me, standing at the near corner of the sofa by the fireplace, and the run of floor between us is clear. I will move forward to close some of that distance.", + "The lamp is larger and closer now, still roughly ahead of me past the end of the kitchen counter. Nothing blocks the lane, so another forward step should bring me into the living room area.", + "I am now level with the kitchen counters on my left, and the open living room floor holding the lamp and sofa lies off to my right. I will turn right to swing my heading into that open living room lane rather than continuing along the kitchen.", + "Facing into the living room, I can see the lamp standing at the near left end of the sofa with clear floor in front of me. I will move forward to reduce the remaining gap to it.", + "The lamp is close now, but its post and shade sit off to my left edge while the sofa fills the center of my view. I will turn left to bring the lamp back into the middle of my heading.", + "The lamp is now centered in front of me, its shade lit and clearly nearby with open floor at my feet. I will step forward once more to stand right at it.", + "The floor lamp's shade and pole fill the right side of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003483_y-000820_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003483_y-000820_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..578a84cf80d8d48f57be7e82d6475e13779fc118 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003483_y-000820_z000168_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "First head to the front door, then go to the television.", + "Type": 3, + "Start_Pose": [ + 3483.273, + -820.399, + 168.15, + 0.0, + -120.03, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3483.273, + -820.399, + 168.15, + 0.0, + -120.03, + 0.0 + ], + [ + 3483.273, + -820.399, + 168.15, + 0.0, + -95.03, + 0.0 + ], + [ + 3472.238, + -945.773, + 168.15, + 0.0, + -95.03, + 0.0 + ], + [ + 3461.203, + -1071.148, + 168.15, + 0.0, + -95.03, + 0.0 + ], + [ + 3450.168, + -1196.522, + 168.15, + 0.0, + -95.03, + 0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + -95.03, + 0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + -95.03, + 0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + -120.03, + 0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + -145.03, + 0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + -170.03, + 0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + 164.97, + -0.0 + ], + [ + 3433.502, + -1288.083, + 168.15, + 0.0, + 139.97, + -0.0 + ], + [ + 3337.131, + -1207.132, + 168.15, + 0.0, + 139.97, + -0.0 + ], + [ + 3240.76, + -1126.181, + 169.34, + 0.0, + 139.97, + -0.0 + ], + [ + 3240.76, + -1126.181, + 169.34, + 0.0, + 164.97, + -0.0 + ], + [ + 3240.76, + -1126.181, + 169.34, + 0.0, + -170.03, + 0.0 + ], + [ + 3116.825, + -1143.867, + 168.353, + 0.0, + -170.03, + 0.0 + ], + [ + 3116.825, + -1143.867, + 168.353, + 0.0, + -145.03, + 0.0 + ], + [ + 3116.825, + -1143.867, + 168.353, + 0.0, + -145.03, + 0.0 + ] + ], + "Rationale": [ + "From here the paneled front door sits ahead but off to my right, with the sofa and rug filling the left of my view. I will turn right so the door lines up with my heading before I walk toward it.", + "The front door now sits close to the middle of my view with clear floor stretching toward it. I will walk forward to close the distance across the open room.", + "The door and its narrow side windows have grown larger and stay centered ahead of me. Nothing blocks the floor between us, so I will keep walking straight toward it.", + "The door now fills much of my view and I can pick out the brass knob and deadbolt. I am still a few steps short of standing at it, so I will advance again.", + "The door face and its side window now dominate my view, so I am nearly at the entry. One more short step should bring me right up to the front door.", + "The paneled front door is directly against my view, close enough that its raised panel is all I can see. I have arrived at the front door. I mark reaching it before setting off toward the television on the dresser in the living room.", + "Standing this close, the door blocks everything and I can see no route from this heading. I will turn left to swing my view back into the room and begin hunting for the television.", + "The turn has brought the door edge and its handle into view, but the room beyond is still hidden behind the door and frame. I will turn left again to keep sweeping toward the open living space where the television stands.", + "The front door fills most of my view, so nothing more is to be gained facing it. I continue rotating left, and the room interior is starting to appear past the plant on that side, which is where a television would sit. This turn should bring more of that living space into view.", + "Swinging left has opened a view down the room, with a window and a sofa now showing beyond the plant stand. I still cannot see a television from this angle, so I keep turning left to sweep more of that living area into view.", + "The seating area with the sectional and the bright window is now largely ahead of me, but the wall that could hold a television is still hidden behind the corner column on the right of my view. Another left step of rotation should square me with the open floor so I can walk into the room.", + "I am now facing straight down the living room, with clear floor and the rug ahead and a white cabinet edging into view on my right. Walking forward should carry me into the room and reveal that cabinet wall where a television is likely placed.", + "The sofa and window have grown noticeably, so my step carried me into the room. The cabinet on my right is still only partly visible, so I take another step forward to draw level with that wall before turning to inspect it.", + "I have walked far enough that the sectional and the window fill the space ahead, and there is no television on this wall. The furniture wall I want lies off to my right, so I rotate right to bring it into view.", + "The turn has revealed the television glowing on the white dresser at the right edge of my view. I rotate right once more so it sits nearer the center of my view and I can approach it directly.", + "The television is now clearly in view on the low white dresser, still a few paces off across open floor. I step forward to close that remaining distance and stand at the set.", + "The lit television screen sits on the dresser at the right edge of my view, cut off by the frame while empty wall and the window fill the left. I am close enough now, so I will turn right to bring the set squarely in front of me.", + "The illuminated television stands directly before me, centered and within reach on its dresser. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003497_y000845_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003497_y000845_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03ce3859822bbd4be5ce66cf7846e0bd37edf07d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003497_y000845_z000168_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the fridge.", + "Type": 0, + "Start_Pose": [ + 3496.825, + 844.752, + 168.15, + 0.0, + 72.653, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3496.825, + 844.752, + 168.15, + 0.0, + 72.653, + -0.0 + ], + [ + 3496.825, + 844.752, + 168.15, + 0.0, + 97.653, + -0.0 + ], + [ + 3480.064, + 969.49, + 168.685, + 0.0, + 97.653, + -0.0 + ], + [ + 3463.303, + 1094.228, + 168.935, + 0.0, + 97.653, + -0.0 + ], + [ + 3446.542, + 1218.966, + 168.935, + 0.0, + 97.653, + -0.0 + ], + [ + 3429.781, + 1343.704, + 168.266, + 0.0, + 97.653, + -0.0 + ], + [ + 3429.781, + 1343.704, + 168.266, + 0.0, + 72.653, + -0.0 + ], + [ + 3467.307, + 1463.838, + 168.266, + 0.0, + 72.653, + -0.0 + ], + [ + 3500.626, + 1514.169, + 168.15, + 0.0, + 72.653, + -0.0 + ], + [ + 3500.626, + 1514.169, + 168.15, + 0.0, + 72.653, + -0.0 + ] + ], + "Rationale": [ + "From this doorway the kitchen opens ahead, and I can pick out the tall cream fridge standing between the cabinetry to the right of my current heading. A tall glass-front cabinet and the island edge crowd the left of my view, so I will turn right to bring the fridge and the open floor lane toward it closer to center.", + "The fridge now sits ahead of me with clear wood flooring running toward it, and nothing blocks that lane. I will move forward to start closing the fairly long distance across the room.", + "The fridge and the cabinet doors beside it have grown larger, confirming I am tracking straight toward the target. The floor ahead is still open, so I will keep moving forward rather than adjust my heading.", + "The fridge is clearly resolved now beside the paneled cabinet doors, but it is still several steps away across the room. I will advance again to keep shrinking that gap while my heading stays usable.", + "The fridge body and its two handles are now plainly visible just left of center with clear floor in front of it. Another forward step should bring me into the near zone beside the counter without hitting anything.", + "Having closed in, the fridge has drifted to the left edge of my view while the fireplace wall now fills the center. I will turn left to swing my heading back onto the fridge before continuing.", + "The turn has put the fridge back in view with the counter run beside it, and the approach path in front of it is clear. I will step forward to close the last part of the distance.", + "The fridge now fills most of my view with both handles at close range, though I am still a short step back from it. I will advance once more to settle directly in front of the fridge door.", + "The fridge door and its handle fill my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003497_y001495_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003497_y001495_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d7c30f389f9a85a2e2ff195d50c82ac900edec9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003497_y001495_z000468_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Find the bed and get close to it.", + "Type": 1, + "Start_Pose": [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 22.799, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 22.799, + -0.0 + ], + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 47.799, + -0.0 + ], + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 72.799, + -0.0 + ], + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 97.799, + -0.0 + ], + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 122.799, + -0.0 + ], + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 147.799, + -0.0 + ], + [ + 3497.079, + 1494.524, + 468.15, + 0.0, + 172.799, + -0.0 + ], + [ + 3372.213, + 1510.301, + 468.15, + 0.0, + 172.799, + -0.0 + ], + [ + 3247.347, + 1526.077, + 468.15, + 0.0, + 172.799, + -0.0 + ], + [ + 3247.347, + 1526.077, + 468.15, + 0.0, + 172.799, + -0.0 + ] + ], + "Rationale": [ + "I am facing a dim corner with an armchair and a long desk against the wall, and there is no bed anywhere in this narrow view. I will turn right to begin a consistent scan of the room for the bed or a doorway leading toward a sleeping area.", + "The rotation has only brought more of the desk surface, papers and a framed picture into view, with no bed present. I will keep turning right in the same direction to sweep further along this wall.", + "Now I see a floor lamp and more wall pictures at the end of the desk, but still no bed in this cramped corner. Continuing the same rightward scan should reveal whatever lies past the lamp.", + "Past the lamp and the potted plant I can now make out an opening on the right that leads into a brighter room with a nightstand and lit lamp. That is a strong bedroom cue, so I will turn right again to bring that opening fully into view.", + "Through the archway on the right I can now clearly see a made bed with pillows beside the nightstand. I will turn right once more to center that bed and the doorway ahead of me before moving.", + "The bed is plainly visible ahead but still sits right of my heading, with the archway frame and plant edging the left of my view. A final small turn right should line my path up with the bed for a straight approach.", + "The bed is now centered in my view with clear open carpet between me and it. I will walk forward through the opening to close the distance to the bed.", + "The step forward worked and the bed, headboard and nightstand now fill much more of my view. I will take one more step forward to get properly close to the bedside.", + "The bed fills the lower half of my view with its headboard and pillows right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003498_y-000198_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003498_y-000198_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..427405a5b466b2b597e34b47fe401a5d291fe070 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003498_y-000198_z000468_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk over to the metal shelf.", + "Type": 0, + "Start_Pose": [ + 3497.571, + -197.843, + 468.15, + 0.0, + 111.361, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3497.571, + -197.843, + 468.15, + 0.0, + 111.361, + -0.0 + ], + [ + 3451.728, + -80.63, + 468.79, + 0.0, + 111.361, + -0.0 + ], + [ + 3451.728, + -80.63, + 468.79, + 0.0, + 136.361, + -0.0 + ], + [ + 3360.643, + 6.227, + 468.79, + 0.0, + 136.361, + -0.0 + ], + [ + 3316.98, + 91.503, + 468.15, + 0.0, + 136.361, + -0.0 + ], + [ + 3316.98, + 91.503, + 468.15, + 0.0, + 111.361, + -0.0 + ], + [ + 3271.137, + 208.716, + 468.15, + 0.0, + 111.361, + -0.0 + ], + [ + 3268.855, + 258.868, + 468.15, + 0.0, + 111.361, + -0.0 + ], + [ + 3268.855, + 258.868, + 468.15, + 0.0, + 111.361, + -0.0 + ] + ], + "Rationale": [ + "From the doorway end of the laundry room I can see the slim metal shelf standing against the far wall beside the window, past the two washing machines. The floor lane straight ahead is clear, so I will move forward to begin closing that distance.", + "The shelf sits deep in the room near the window, but the washers and the low dresser crowd the left side of my current heading. I will turn right to face the open floor lane running along the counter, which should give me a clear straight run toward the far wall.", + "Facing down the counter lane, the metal shelf is now off to my left against the wall under the window, with unobstructed tile in front of me. Moving forward should carry me deeper into the room and closer to it.", + "The window wall and the end of the counter are noticeably nearer, and the shelf with its towel and baskets is close on my left. I will step forward again to cut the last of the distance toward that far corner.", + "The shelf has slipped to the left edge of my view while the blank wall and window sill dominate straight ahead. Turning left should swing my heading back onto the shelf so I can approach it squarely.", + "The metal shelf is now centered in front of me between the washer and the window, only a short gap of tile remaining. I will move forward to close that gap.", + "The shelf's metal frame and folded towel now fill much of my view, so I am nearly beside it. One more short step forward should place me right at the shelf.", + "The metal shelf's frame fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003499_y001526_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003499_y001526_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4c2d14df72b15fb2ba845dda842ce04565bc6e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003499_y001526_z000468_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Open the white paneled door to the right of the fireplace.", + "Type": 4, + "Start_Pose": [ + 3499.239, + 1525.919, + 468.15, + 0.0, + -111.749, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3499.239, + 1525.919, + 468.15, + 0.0, + -111.749, + 0.0 + ], + [ + 3452.603, + 1409.019, + 468.15, + 0.0, + -111.749, + 0.0 + ], + [ + 3405.967, + 1292.119, + 468.15, + 0.0, + -111.749, + 0.0 + ], + [ + 3359.331, + 1175.219, + 468.15, + 0.0, + -111.749, + 0.0 + ], + [ + 3359.331, + 1175.219, + 468.15, + 0.0, + -86.749, + 0.0 + ], + [ + 3366.469, + 1049.563, + 468.15, + 0.0, + -86.749, + 0.0 + ], + [ + 3366.469, + 1049.563, + 468.15, + 0.0, + -61.749, + 0.0 + ], + [ + 3426.042, + 938.696, + 468.15, + 0.0, + -61.749, + 0.0 + ], + [ + 3426.042, + 938.696, + 468.15, + 0.0, + -86.749, + 0.0 + ], + [ + 3426.042, + 938.696, + 468.15, + 0.0, + -86.749, + 0.0 + ], + [ + 3432.193, + 901.624, + 468.15, + 0.0, + -86.749, + 0.0 + ], + [ + 3432.193, + 901.624, + 468.15, + 0.0, + -86.749, + 0.0 + ], + [ + 3432.193, + 901.624, + 468.15, + 0.0, + -86.749, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the far side of this empty room I can see the fireplace ahead and the white paneled door standing in the wall to its right. I will move forward across the open carpet to close the large gap before I can work on the door itself.", + "The fireplace and the target door are both larger now, so my heading is carrying me toward the correct wall. I will keep moving forward since nothing blocks the carpet in front of me.", + "The white paneled door on the right of the fireplace is now clearly framed with its handle visible, but it is still too far to reach. I will advance again to bring myself within interaction range of that wall.", + "At this closer range the target door sits off to my right edge while the fireplace dominates the center of my view. I will turn right so the paneled door moves toward the middle of my view and I can approach it straight on.", + "The white paneled door with its brass handle is now centered ahead of me with clear carpet in between. I will move forward to close the remaining distance so the handle comes within reach.", + "The white paneled door now fills the right portion of my view while bare wall and a column sit to my left, so my heading is still offset from the target. I will turn right to bring the door and its latch side toward the center of my view before closing the remaining distance.", + "The paneled door is now large in front of me with its frame clearly visible, but I am still a step or two short of reaching the handle. I will move forward to close that gap and bring the door within arm's reach for an opening attempt.", + "I am right up against the door, but I only see panel surface with the frame edge on my right, which means I am facing the hinge side and the handle is out of view to my left. I will turn left so the latch and handle come into the center of my view for the interaction.", + "The brass lever handle and lock are now clearly centered in front of me on this white paneled door, which is the target to the right of the fireplace. I will attempt to open it from this pose, which should release the latch and swing the door inward.", + "My opening attempt left the door unchanged, since the view still shows the same closed panel with the handle in place. I suspect I am marginally too far from the latch, so I will step forward a little to tighten my position at the handle before trying again.", + "My earlier attempt at this white paneled door left it shut, so I closed the remaining gap and the panel now fills my view with the brass handle just at my lower left. From this contact range the latch should be within reach of my interaction, unlike before. I will try opening the door again from this nearer position.", + "I can see the white paneled door swung open with the bathroom beyond it. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003529_y001454_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003529_y001454_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd737f0748da0948e724d8eb5346916e64b6fa5d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003529_y001454_z000468_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Find the fireplace and go close to it.", + "Type": 1, + "Start_Pose": [ + 3528.546, + 1453.921, + 468.15, + 0.0, + 55.439, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + 55.439, + -0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + 80.439, + -0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + 105.439, + -0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + 130.439, + -0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + 155.439, + -0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + -179.561, + 0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + -154.561, + 0.0 + ], + [ + 3528.546, + 1453.921, + 468.15, + 0.0, + -129.561, + 0.0 + ], + [ + 3448.386, + 1356.89, + 468.15, + 0.0, + -129.561, + 0.0 + ], + [ + 3368.227, + 1259.86, + 468.15, + 0.0, + -129.561, + 0.0 + ], + [ + 3288.067, + 1162.829, + 468.15, + 0.0, + -129.561, + 0.0 + ], + [ + 3207.908, + 1065.799, + 468.15, + 0.0, + -129.561, + 0.0 + ], + [ + 3207.908, + 1065.799, + 468.15, + 0.0, + -104.561, + 0.0 + ], + [ + 3178.236, + 983.746, + 468.15, + 0.0, + -104.561, + 0.0 + ], + [ + 3178.236, + 983.746, + 468.15, + 0.0, + -104.561, + 0.0 + ], + [ + 3178.236, + 983.746, + 468.15, + 0.0, + -104.561, + 0.0 + ] + ], + "Rationale": [ + "I am facing a tight corner with a desk, a chair, and framed pictures, and there is no fireplace anywhere in this narrow view. I will turn right to begin a consistent scan of the room and reveal the walls currently outside my field of view.", + "The new heading shows more of the desk, a floor lamp, and decorative panels, but still no hearth or chimney breast. I will keep rotating right in the same direction so the scan stays consistent and uncovers the next section of wall.", + "A potted plant and the edge of an archway are now appearing at the right of my view, which suggests this cramped corner opens into a larger space. I will continue turning right to bring that opening fully into view, since a fireplace is more likely in a bigger room than in this alcove.", + "Through the archway I can now see a bedroom with a bed, nightstand, and framed pictures, but no fireplace in the visible portion. I will turn right again to sweep further into that adjoining room where more wall surface is still hidden.", + "The bedroom is now largely open in front of me with a bed, windows, and a bench, yet the hearth I need is not in this span of wall. Continuing the same rightward rotation should expose the far side of this room, which is the most promising unseen area.", + "From here I see the bed on the left and two curtained windows along the far wall, with open carpet stretching to the right and no fireplace yet. I will keep turning right to bring that remaining stretch of wall into view.", + "A stone fireplace with a mantel and dark firebox has come into view on the right side of this large room, so my search target is finally spotted. I will turn right once more to bring the hearth closer to the center of my heading before walking toward it.", + "The fireplace now sits near the middle of my view across an empty carpeted floor, so my heading is good enough to close the distance. I will step forward, since nothing appears to block the straight path to the hearth.", + "The fireplace with its pale stone mantel is clearly ahead of me across the open carpet, roughly centered in my view. Since nothing blocks the floor between us, I will keep walking straight to close the remaining distance.", + "The hearth and firebox now fill more of my view, confirming the previous step reduced the gap. I am still several paces short of standing beside it, so I will continue advancing.", + "The mantel shelf and tiled surround are close enough to read individual candlesticks and picture frames, but I am not yet within arm's reach of the hearth. Another step forward should bring me right up to it.", + "I am now very near the fireplace, but it sits off to the right side of my view while the window and drape occupy the left. A small turn to the right should center the firebox so my final approach lands squarely in front of it.", + "The mantel and firebox are now squarely centered in front of me after the turn. One more short step should place me immediately at the hearth, close enough to satisfy the task.", + "I am standing right at the fireplace, and at this range my level gaze only catches the dentil molding under the mantel and the upper tiles. Tilting my head down should bring the firebox opening and hearth base into view so I can confirm I am close to the fireplace itself.", + "The tiled surround and open firebox fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003535_y001448_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003535_y001448_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11b59f74029743ac3c0d6534b7a0786f1bbff6cb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003535_y001448_z000468_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "First head to the fireplace, then go to the bed.", + "Type": 3, + "Start_Pose": [ + 3534.786, + 1447.788, + 468.15, + 0.0, + -158.641, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3534.786, + 1447.788, + 468.15, + 0.0, + -158.641, + 0.0 + ], + [ + 3534.786, + 1447.788, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3447.926, + 1356.707, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3361.066, + 1265.625, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3274.206, + 1174.544, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3274.206, + 1174.544, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + -158.641, + 0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + 176.359, + -0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + 151.359, + -0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + 126.359, + -0.0 + ], + [ + 3233.977, + 1055.287, + 468.15, + 0.0, + 101.359, + -0.0 + ], + [ + 3209.188, + 1178.681, + 468.15, + 0.0, + 101.359, + -0.0 + ], + [ + 3184.399, + 1302.075, + 468.15, + 0.0, + 101.359, + -0.0 + ], + [ + 3184.399, + 1302.075, + 468.15, + 0.0, + 101.359, + -0.0 + ] + ], + "Rationale": [ + "The stone fireplace sits well off to the right side of this room, while the bed lies behind my left shoulder. Since the fireplace is my first destination, I will pivot right to bring it nearer the center of my view before walking.", + "The fireplace now stands ahead of me under its framed picture, with open carpet between us and no furniture in the way. I will walk forward to cut down that distance.", + "The mantel and its candlestick have grown noticeably larger, confirming my heading leads straight to the hearth. The floor ahead remains clear, so I will keep walking toward it.", + "The fireplace surround and the framed print above it now fill a good part of my view, yet I am still several paces short of standing at the hearth. Another step forward should bring me close enough.", + "I am close to the hearth, but it sits toward the right of my view while the window wall takes up the left. A small pivot to the right should square me up with the fireplace before I close the last of the distance.", + "The fireplace is now centered directly ahead with its hearthstone plainly in view. One more step should place me right at it.", + "The mantel, its candlestick and small framed pictures, and the dark firebox fill my view from arm's length. I am standing at the fireplace. I mark reaching it and now turn my attention to the bed across the room.", + "Standing this close to the hearth, the fireplace wall blocks nearly everything and the bed lies far behind me, past the window wall on my left. I will pivot left to begin swinging my heading back across the room toward it.", + "The hearth and mantel now sit off to my right, so I am clear of them and free to search for the bed. Nothing but window and curtain fills the left side of my view, so I will keep rotating left to sweep the rest of the room.", + "Only a curtained window and the last sliver of the mantel are in front of me, with no sleeping area yet in sight. I will continue turning left to bring more of the room's far side into view.", + "I now face a blank stretch of wall with two curtained windows and empty carpet, so the bed must lie further around to my left. Another left turn should carry my heading past this wall toward the open part of the room.", + "A bed frame with a lamp on its nightstand has just edged into the far left of my view, which tells me the sleeping area lies that way. I will turn left again to bring it toward the middle of my view.", + "The bed with its two lamps and bench is clearly visible but sits left of center, so my heading is not yet straight at it. One more left turn should place it squarely ahead before I walk over.", + "The bed, flanked by its two lit nightstands, now sits centered in front of me with clear carpet between us. I will walk forward to close that distance.", + "The bed and its bench have grown noticeably larger and stay centered, confirming my heading is good. I am still a few steps short of standing at it, so I will keep walking forward.", + "The bed fills the view directly in front of me, within arm's reach of its footboard. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003535_y001448_z000468_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003535_y001448_z000468_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c95d5aaf84b0bef2948d670c301bf60cb08eb56 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003535_y001448_z000468_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the green bell pepper at the fireplace, then leave it near the bed.", + "Type": 5, + "Start_Pose": [ + 3534.786, + 1447.788, + 468.15, + 0, + -158.641, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3275.877, + 1067.449, + 408.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3534.786, + 1447.788, + 468.15, + 0, + -158.641, + 0 + ], + [ + 3534.786, + 1447.788, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3447.926, + 1356.707, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3361.066, + 1265.625, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3361.066, + 1265.625, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3361.066, + 1265.625, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + -108.641, + 0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + -133.641, + 0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + -158.641, + 0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + 176.359, + -0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + 151.359, + -0.0 + ], + [ + 3320.837, + 1146.369, + 468.15, + 0.0, + 126.359, + -0.0 + ], + [ + 3246.221, + 1247.725, + 468.15, + 0.0, + 126.359, + -0.0 + ], + [ + 3177.438, + 1321.391, + 468.15, + 0.0, + 126.359, + -0.0 + ], + [ + 3220.123, + 1263.408, + 468.15, + 0.0, + 126.359, + -0.0 + ], + [ + 3220.123, + 1263.408, + 468.15, + 0.0, + 126.359, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3275.877, + 1067.449, + 408.15, + 0.0, + 0.0, + 0.0 + ], + [ + 3341.265, + 1140.122, + 438.257, + -28.202, + -58.496, + 1.862 + ], + [ + 3336.026, + 1132.734, + 438.529, + -28.189, + -83.484, + 1.872 + ], + [ + 3328.038, + 1127.523, + 437.862, + -28.215, + -108.513, + 1.849 + ], + [ + 3313.708, + 1119.797, + 438.043, + -14.175, + -141.448, + 6.959 + ], + [ + 3311.122, + 1127.759, + 437.932, + -28.208, + -158.498, + 1.851 + ], + [ + 3305.023, + 1134.322, + 438.6, + -28.198, + 176.505, + 1.867 + ], + [ + 3229.326, + 1234.651, + 438.07, + -28.198, + 176.505, + 1.862 + ], + [ + 3160.435, + 1308.472, + 437.735, + -28.21, + 176.496, + 1.853 + ], + [ + 3178.624, + 1319.78, + 458.15, + 0.0, + 126.359, + -0.0 + ], + [ + 3178.624, + 1319.78, + 458.15, + 0.0, + 126.359, + -0.0 + ] + ], + "PD_Dist_2D": [ + 460.1, + 460.1, + 336.6, + 215.7, + 215.7, + 215.7, + 90.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the carpet beside the fireplace, well off to the right of my current heading. I will turn right so that the pepper and the fireplace wall come toward the center of my view before I walk over. That should give me a straight approach line across the open floor.", + "The pepper now sits ahead of me on the open carpet in front of the fireplace, with nothing between us. I will step forward to close the still considerable distance toward it.", + "The pepper has grown noticeably larger ahead of me but is still several paces away, too far to reach. I will keep walking straight toward it since the floor between us stays clear.", + "The pepper now fills the lower right of my view, appearing close enough that a grasp seems worth trying. I will attempt to pick it up rather than take another step that might carry me past it.", + "My hands are empty and the pepper is not held, so that grasp did not take hold. It was sitting off to my right rather than squarely in front of me, so I will turn right to bring it back to the center of my heading. From there I can line up a cleaner approach and try again.", + "My hands are still empty and the green pepper is sitting on the carpet ahead of me, so my earlier grasp attempt clearly left it untouched. It is centered in front of me now but still a stride or so out of reach, so I will walk forward to close that gap before trying again.", + "The earlier attempt to lift the pepper produced nothing, and I am now much closer to the fireplace, with the pepper fallen out of my forward view as I stepped in over it. That is consistent with standing directly at it rather than losing it. I will attempt the grasp again from this closer position.", + "The grasp worked this time and the green pepper is now in my hands. The bed is not on this fireplace wall, it lies back across the room behind my left shoulder, so I will begin rotating left to swing my heading toward it.", + "I am carrying the pepper and my view still shows the fireplace and the window wall, with no sign of the bed. Turning left once more should continue sweeping my heading away from the hearth toward the sleeping side of the room.", + "With the pepper in hand, the fireplace has slid to my right edge and only curtained windows are in front of me, so I still am not facing the bed. Another left turn should bring the far wall where the bed stands into my view.", + "The pepper is secured in my hands, so my remaining job is to carry it to the bed. Ahead I only see the curtained window wall, with the pale corner of a bench and bedding just entering the left edge. I will turn left again to swing the sleeping area into view.", + "The bed with its bench now sits in the left half of my view while the window wall still occupies the center. Carrying the pepper, I want the bed straight ahead before walking. One more left turn should center it for a direct approach.", + "The bed and its footboard bench are now centered in front of me, with the pepper still in my hands. The gap of open carpet between us is too wide to set the pepper near the bed from here. I will walk forward along this heading to close that distance.", + "The bed fills much more of my view now, but I am still standing off from its side with the pepper held. To leave it convincingly near the bed I need to be right beside the mattress and nightstand. Another step forward should bring me within placing range.", + "I am now right at the bedside, with the mattress, pillows and nightstand filling my view and the pepper still in my hands. This spot satisfies leaving it near the bed. I will release the pepper here so it should come to rest beside the bed.", + "The green bell pepper now rests on the floor beside the bed, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003542_y000501_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003542_y000501_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eeabe5ea3a0af8aed96899647aeb3033cda452a1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003542_y000501_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the lamp on the table.", + "Type": 0, + "Start_Pose": [ + 3541.622, + 500.916, + 168.15, + -0.05, + -23.991, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3541.622, + 500.916, + 168.15, + -0.05, + -23.991, + 0.0 + ], + [ + 3541.622, + 500.916, + 168.15, + -0.05, + -48.991, + 0.0 + ], + [ + 3624.208, + 405.942, + 168.725, + -0.05, + -48.991, + 0.0 + ], + [ + 3706.794, + 310.968, + 168.725, + -0.05, + -48.991, + 0.0 + ], + [ + 3706.794, + 310.968, + 168.725, + -0.05, + -73.991, + 0.0 + ], + [ + 3741.504, + 189.99, + 168.725, + -0.05, + -73.991, + 0.0 + ], + [ + 3776.063, + 70.218, + 168.15, + -0.05, + -73.991, + 0.0 + ], + [ + 3776.063, + 70.218, + 168.15, + -0.05, + -73.991, + 0.0 + ] + ], + "Rationale": [ + "I can see a lit table lamp on a light cabinet at the far left edge of my view, beside the staircase, while most of my heading points at the blank wall and picture ahead. I will turn left to bring that lamp toward the center of my view so I have a clear straight path toward it.", + "The lamp on the cabinet is now inside my view to the left of the stairs, with open hallway floor and a runner rug between me and it. I will move forward along this clear stretch to start closing the distance to the lamp.", + "The lamp and its cabinet have grown larger and the staircase railing is passing on my right, so my heading is still carrying me toward the target. I will move forward again to keep reducing the remaining gap.", + "I am now close to the stair area, and the lamp on the cabinet sits noticeably left of the center of my view while my heading points into the stairs and side wall. I will turn left to line my heading up with the lamp before advancing further.", + "After the turn the lamp on the cabinet is centered in my view with open hallway floor leading up to it. I will move forward to close most of the remaining distance to it.", + "The lamp and the cabinet top now fill a large part of my view just ahead and slightly right, so only a short gap remains. I will move forward once more to arrive directly at the table holding the lamp.", + "The lit lamp stands directly in front of me on the cabinet top, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003546_y001264_z-000132_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003546_y001264_z-000132_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97883c55e0f80c1c825899f73647185ad0bd98dc --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003546_y001264_z-000132_t1_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Explore the environment to find and approach the door.", + "Type": 1, + "Start_Pose": [ + 3546.203, + 1263.68, + -131.85, + 0.0, + 114.835, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + 114.835, + -0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + 89.835, + -0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + 64.835, + -0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + 39.835, + -0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + 14.835, + -0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + -10.165, + 0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + -35.165, + 0.0 + ], + [ + 3546.203, + 1263.68, + -131.85, + 0.0, + -60.165, + 0.0 + ], + [ + 3571.289, + 1156.908, + -131.85, + 0.0, + -60.165, + 0.0 + ], + [ + 3607.279, + 1049.708, + -116.913, + 0.0, + -60.165, + 0.0 + ], + [ + 3607.279, + 1049.708, + -116.913, + 0.0, + -35.165, + 0.0 + ], + [ + 3607.279, + 1049.708, + -116.913, + 0.0, + -10.165, + 0.0 + ], + [ + 3731.163, + 1027.496, + -131.85, + 0.0, + -10.165, + 0.0 + ], + [ + 3733.011, + 1024.065, + -131.85, + 0.0, + -10.165, + 0.0 + ], + [ + 3732.835, + 1009.267, + -131.85, + 0.0, + -10.165, + 0.0 + ], + [ + 3732.835, + 1009.267, + -131.85, + 0.0, + 14.835, + -0.0 + ], + [ + 3740.827, + 1044.808, + -131.85, + 0.0, + 14.835, + -0.0 + ], + [ + 3851.753, + 1085.729, + -131.85, + 0.0, + 14.835, + -0.0 + ], + [ + 3851.753, + 1085.729, + -131.85, + 0.0, + -10.165, + 0.0 + ], + [ + 3851.753, + 1085.729, + -131.85, + 0.0, + -35.165, + 0.0 + ], + [ + 3851.753, + 1085.729, + -131.85, + 0.0, + -60.165, + 0.0 + ], + [ + 3851.753, + 1085.729, + -131.85, + 0.0, + -85.165, + 0.0 + ], + [ + 3862.361, + 960.318, + -65.156, + 0.0, + -85.165, + 0.0 + ], + [ + 3872.969, + 834.907, + 28.151, + 0.0, + -85.165, + 0.0 + ], + [ + 3874.078, + 709.601, + 127.746, + 0.0, + -85.165, + 0.0 + ], + [ + 3874.078, + 709.601, + 127.746, + 0.0, + -85.165, + 0.0 + ] + ], + "Rationale": [ + "I am boxed into a corner where plywood panels and a tiled block wall fill almost the whole view, so no door is visible from this heading. I will turn left to begin a consistent scan of the surroundings and open up a direction that is not blocked by these panels.", + "The turn shifted my view onto a metal shelving rack loaded with boxes on the left, but still no door edge or frame anywhere ahead. I will keep rotating left in the same direction to sweep past this storage rack and see what lies beyond it.", + "Now the shelves and their stacked file boxes dominate the view, which tells me I am in a storage area rather than near an exit. Continuing the same leftward rotation should carry my gaze off these shelves and toward the more open part of the room.", + "Between the shelf levels I can now glimpse a tiled wall and cabinets further away, so there is open space past this rack worth scanning. I will keep turning left in the same direction to widen that gap in the shelving and look for a door along the far wall.", + "The view is opening up as more of the room behind the shelving comes into sight, though a support post and stacked crates still block much of it. I will continue the same leftward sweep to clear these obstructions and check the remaining walls for a door.", + "The frame is still filled with loaded shelving, teal storage crates and a metal upright, so there is no doorway anywhere in this narrow view. Since I started boxed in against a plywood wall, I keep rotating left in the same consistent direction to sweep the room rather than reversing my scan. This next left turn should carry my view past the shelf frame toward whatever open space lies beyond.", + "The shelves still block most of the frame, but along the left edge I can now see floor, a block wall and a wooden beam, which suggests open space in that direction. No door is visible yet, so I continue the same leftward sweep instead of committing to this cluttered aisle. Another left turn should bring that open area more fully in front of me.", + "The turn has opened up the room: I can see clear concrete floor, shelving along the far wall, and what looks like a wooden staircase structure just right of the shelf unit ahead. A door is still not visible from inside this shelf aisle, and stairs are a strong cue that an exit door lies at their top. I will walk forward into the open floor to get clear of the shelving and see that stair area properly.", + "Now that I am out of the aisle, the wooden staircase with its handrail stands clearly ahead on the right and the floor between me and it is unobstructed. Following the stairs is the most promising way to reach a door, so I keep walking forward to close the distance. Another step should put me near the stairwell where I can judge the landing above.", + "I am close to the stairwell now, but the steel support pillar and the underside of the stairs crowd the center of my view so I cannot see where the stairs begin or what is on the wall past them. Turning right should swing my heading toward the foot of the staircase and the block wall beyond it, where a door would most likely be. This keeps my search local to the stairwell rather than wandering back into the shelves.", + "The wooden staircase and the bare block wall fill most of my view, and the floor area to the right of the stairs is still hidden from me. I will keep rotating right in the same direction to sweep that unseen part of the basement for a door.", + "The rotation has brought a tall door-sized panel into view against the block wall to the right of the stairway, which is the strongest door candidate I can see from here. I will walk forward across the open concrete floor to close distance and judge whether it is an actual doorway.", + "I am now close under the stair run, with the stringer and handrail crowding the left half of my view and the door-like panel still standing further along the wall to my right. I will step forward again to press through the gap beside the staircase toward that panel.", + "My last forward step gained almost no ground, since the view is nearly unchanged and the stair structure is pressed right up against me. I will try one more forward step to see whether I can still squeeze past this stair edge rather than being fully blocked.", + "Forward progress along the side of the staircase has stalled, with the stair treads and handrail now filling almost the whole view and barely shifting between steps. I will turn right, away from the stairs, to face the open floor and the door-like panel on the wall and look for a passable line of approach.", + "After my forward steps stalled against the stair stringer and handrail, turning right has cleared my heading into the open basement floor, and now a tall door-like wooden panel stands against the block wall ahead of me. I will walk forward across the open concrete toward that panel to get a closer look at whether it is a usable door.", + "The wooden panel is now centered in my view and clearly larger than before, so my previous step did move me across the open floor toward it. I will step forward again to close the remaining distance and check for a handle, hinges, or a frame that would confirm it is a real door.", + "Now that I am right up against it, the wooden slab fills my view with bare plywood grain, no handle, no hinges, and it simply leans against the tiled block wall, so it is not a doorway I can approach as the target. Approaching it was a dead end, so I will turn left to sweep back toward the staircase side of the basement, where a stairway rises toward an upper level.", + "Turning has already moved the plywood slab to the right edge of my view, confirming it was only a loose board against the block wall rather than the door I need. I will keep rotating left in the same direction to bring the staircase and its landing fully into view.", + "The wooden staircase and its handrail have come into the left half of my view as I rotate away from the dead-end panel. I will turn left once more to put the stairway and whatever lies at its top squarely in front of me before advancing.", + "The white door at the top of the staircase is now visible ahead but still sits left of my view center, with the handrail cutting across the right side. I will turn left once more to place the stairway and that door squarely in front of me before walking up.", + "The staircase is now centered in front of me with the white door directly at its top, so my heading is finally clean for the climb. Earlier a forward step against the stair structure barely moved me, but this open run of treads should let me advance properly toward the door.", + "The last step carried me noticeably up the stairs, and the door at the landing is larger and still centered above the treads. I will keep walking forward along the staircase to close the remaining distance to it.", + "Only a few treads now separate me from the white panel door, whose handle is clearly visible just ahead and slightly left. One more forward walk should bring me right up to the door at the top of the stairs.", + "The white panel door fills my view at arm's length with its handle beside me. The approach goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003561_y001161_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003561_y001161_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22470aa089a4b92639d225ed6f373f45b7d9eba6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003561_y001161_z000468_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the desk chair.", + "Type": 0, + "Start_Pose": [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 97.566, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 97.566, + -0.0 + ], + [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 122.566, + 0.0 + ], + [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 147.566, + 0.0 + ], + [ + 3454.305, + 1228.041, + 468.15, + -0.05, + 147.566, + 0.0 + ], + [ + 3454.305, + 1228.041, + 468.15, + -0.05, + 122.566, + 0.0 + ], + [ + 3454.305, + 1228.041, + 468.15, + -0.05, + 97.566, + 0.0 + ], + [ + 3437.733, + 1352.804, + 468.15, + -0.05, + 97.566, + 0.0 + ], + [ + 3437.733, + 1352.804, + 468.15, + -0.05, + 72.566, + 0.0 + ], + [ + 3437.733, + 1352.804, + 468.15, + -0.05, + 47.566, + 0.0 + ], + [ + 3522.655, + 1445.695, + 468.15, + -0.05, + 47.566, + 0.0 + ], + [ + 3571.332, + 1521.932, + 468.15, + -0.05, + 47.566, + 0.0 + ], + [ + 3571.332, + 1521.932, + 468.15, + -0.05, + 47.566, + 0.0 + ] + ], + "Rationale": [ + "I can see the dark desk chair tucked at the desk on the left side of the room, but a low partition wall runs directly across in front of me and blocks a straight path to it. I will turn right toward the open carpeted floor so I can head for a route that gets around that barrier.", + "After the first rotation I am looking into the bedroom, yet the near partition still cuts across the lower part of my view and the widest clear carpet lies further to my right. I will turn right once more to square myself with that open floor before stepping forward.", + "The path in front of me is now open carpet running past the bed with no furniture in the way. I will step forward to clear the partition beside me and gain room inside the room to swing back toward the desk corner.", + "Having moved into the open part of the room, I am now facing the window wall while the desk alcove sits back to my left. I will turn left to begin bringing my heading around toward that alcove.", + "The rotation has brought the archway, the floor lamp and the potted plant into view, but the desk corner is still beyond the left edge of what I can see. I will turn left again so the desk and its chair should come into view ahead of me.", + "The desk and the dark chair are now showing at the left of my view, with clear carpet between me and that alcove. I will step forward to close the distance toward the chair.", + "I am close to the alcove now, with the desk top entering at the left and the lamp and plant filling the center of my view, so the chair itself is still off to my left. I will turn left to bring the chair back into view and centered.", + "The desk chair is now visible on the left side of my view beside the desk, but it is not yet lined up with my forward direction. I will turn left once more to place the chair straight ahead so a direct approach is possible.", + "The dark desk chair is now clearly in front of me at the desk, roughly centered slightly left in my view, with open carpet between us. My heading looks well aligned with it, so I will step forward to close the remaining gap.", + "The chair back now fills a large part of the left side of my view and the desktop is close on the right, so I am nearly at the target. I will advance once more to finish closing the short remaining distance to the chair.", + "The desk chair is directly beside me at arm's reach along the desk corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003561_y001161_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003561_y001161_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76689ae14fddec949fe16b9874be343578eaa7ea --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003561_y001161_z000468_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Go to the office chair first, then go to the bedside lamp.", + "Type": 3, + "Start_Pose": [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 97.566, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 97.566, + 0.0 + ], + [ + 3560.531, + 1160.539, + 468.15, + -0.05, + 122.566, + 0.0 + ], + [ + 3493.716, + 1254.373, + 468.15, + -0.05, + 122.566, + 0.0 + ], + [ + 3493.716, + 1254.373, + 468.15, + -0.05, + 97.566, + -0.0 + ], + [ + 3474.769, + 1256.871, + 468.15, + -0.05, + 97.566, + -0.0 + ], + [ + 3474.769, + 1256.871, + 468.15, + -0.05, + 72.566, + 0.0 + ], + [ + 3466.474, + 1260.844, + 468.15, + -0.05, + 72.566, + 0.0 + ], + [ + 3438.791, + 1172.689, + 468.15, + -0.05, + 72.566, + 0.0 + ], + [ + 3438.791, + 1172.689, + 468.15, + -0.05, + 97.566, + 0.0 + ], + [ + 3422.219, + 1297.452, + 468.15, + -0.05, + 97.566, + 0.0 + ], + [ + 3422.219, + 1297.452, + 468.15, + -0.05, + 72.566, + -0.0 + ], + [ + 3459.927, + 1417.529, + 468.15, + -0.05, + 72.566, + -0.0 + ], + [ + 3459.927, + 1417.529, + 468.15, + -0.05, + 47.566, + -0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 47.566, + -0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 47.566, + -0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 72.566, + -0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 97.566, + 0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 122.566, + 0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 147.566, + 0.0 + ], + [ + 3544.849, + 1510.42, + 468.15, + -0.05, + 172.566, + 0.0 + ], + [ + 3420.048, + 1526.704, + 468.15, + -0.05, + 172.566, + 0.0 + ], + [ + 3298.314, + 1539.184, + 468.15, + -0.05, + 172.566, + 0.0 + ], + [ + 3298.314, + 1539.184, + 468.15, + -0.05, + 147.566, + 0.0 + ], + [ + 3298.314, + 1539.184, + 468.15, + -0.05, + 147.566, + 0.0 + ] + ], + "Rationale": [ + "The office chair sits at the desk to my left, but a low partition wall runs straight across in front of me and blocks any direct walk toward it. I turn right to face the open carpet beyond that wall, where a passable route into the room should begin.", + "My heading now runs along the open bedroom floor rather than into the partition edge. I will walk forward to get clear of that low wall and gain room to swing back toward the desk corner where the office chair stands.", + "I am past the low wall now, with the bed and archway filling the right of my view and only the desk edge showing at the far left. I turn left to bring the office chair back in front of me and set up a straight approach to it.", + "The office chair and its desk are back in view along the left wall, with unobstructed carpet between us. I will step forward to cut down that distance before refining my heading.", + "That step gained almost nothing; the desk and chair look practically the same size and distance as before, so my heading is skimming past them rather than closing. I turn left to aim squarely at the office chair and try to open a cleaner line toward it.", + "The office desk and its dark swivel chair now sit clearly ahead of me in the corner nook, with open carpet between us. I will step forward to close the remaining distance to that chair.", + "My last step forward barely changed anything, the chair and desk are almost the same size and angle as before, so something ahead is checking my advance. I will back up to open clearance and give myself room to pick a passable line toward the chair.", + "Backing up shows the low partition wall rising directly in front of me, which explains why my push toward the desk stalled. Turning right swings me off that wall and toward the open carpet and archway, where a clear route around to the chair should exist.", + "The partition no longer blocks my heading and clear carpet runs ahead into the room, with the desk and chair now off to my left. I will walk forward along this open line to get past the wall and closer to that chair.", + "I am now well inside the room, past the partition, and the desk with its chair lies to my left while the bed sits to my right. I will turn left to put the office chair back in front of me before advancing on it.", + "The desk corner with its office chair now sits ahead and slightly to my left, with the floor lamp marking the far side of that alcove. Nothing blocks the carpet between us, so I will walk straight in to close most of the remaining gap to the chair.", + "I am close to the desk now, but the chair has slid to the very edge of my view on the left while the lamp and plant fill the center. Turning left should swing my heading onto the chair so I can finish the approach straight at it.", + "The office chair is now squarely ahead beside the desk, its back and castors fully in view. A short walk forward should bring me right up beside it.", + "The padded back of the office chair is at arm's reach on my left, and the desktop with its framed photo and newspaper fills the space in front of me. I have arrived at the office chair, so I mark reaching it before setting off across the room for the bedside lamp.", + "Standing at the chair I am facing into the corner wall above the desk, which gives me no route onward. The bedroom with its bedside lamp lies back around behind my right shoulder, so I will begin swinging right to pull my heading off this corner.", + "Standing at the office chair, my view is still filled by the desk top and the corner wall, so nothing of the sleeping area is in sight. The bedside lamp sits back out in the open bedroom behind me, so I will keep turning right to swing my heading off this cramped corner.", + "The rotation has brought the tall floor lamp beside the desk into the right of my view, but that standing lamp is not the small one on the nightstand I need. My heading is still pinned to this wall, so I will turn right again to keep sweeping toward the open room.", + "The floor lamp and the potted plant are now centered, and past the plant on the right edge a brighter opening hints at the bedroom beyond. That gap is the way back toward the nightstand, so I will turn right once more to bring it into the middle of my view.", + "Through the archway on the right I can now make out the bed and the small lamp standing on the nightstand beside it. They are still off at the edge with the plant and the arch pillar between us, so another turn right should place that opening squarely ahead of me.", + "The archway is now clear in front of me and the bed with the lamp on its nightstand lies straight ahead across open carpet. With the plant off to my left and no furniture in the way, I will walk forward to close the distance to that lamp.", + "The lit lamp on the nightstand beside the headboard is now clearly ahead, but still a few paces off past the foot of the bed. I will walk forward again to close the remaining gap and stand alongside the bedside table.", + "I am now right beside the bed, and the nearer bedside lamp has slipped to the very edge of my view on the left while the far corner of the room fills the center. A short turn to the left should bring that lamp squarely in front of me.", + "The bedside lamp stands directly in front of me at arm's reach on its nightstand. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003564_y-001123_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003564_y-001123_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3dd53fe09e1674f3622ad76a2c83385924775c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003564_y-001123_z000468_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Explore the area and locate the alarm clock.", + "Type": 1, + "Start_Pose": [ + 3563.821, + -1123.158, + 468.15, + 0.0, + -34.403, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + -34.403, + 0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + -9.403, + 0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 15.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 40.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 65.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 90.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 115.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 140.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + 165.597, + -0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + -169.403, + 0.0 + ], + [ + 3563.821, + -1123.158, + 468.15, + 0.0, + -144.403, + 0.0 + ], + [ + 3470.068, + -1196.423, + 468.15, + 0.0, + -144.403, + 0.0 + ], + [ + 3470.068, + -1196.423, + 468.15, + 0.0, + -169.403, + 0.0 + ], + [ + 3401.384, + -1239.477, + 468.15, + 0.0, + -169.403, + 0.0 + ], + [ + 3401.384, + -1239.477, + 468.15, + 0.0, + 165.597, + -0.0 + ], + [ + 3310.269, + -1231.661, + 468.15, + 0.0, + 165.597, + -0.0 + ], + [ + 3310.269, + -1231.661, + 468.15, + 0.0, + 165.597, + -0.0 + ], + [ + 3310.269, + -1231.661, + 468.15, + 0.0, + 165.597, + -0.0 + ] + ], + "Rationale": [ + "From this starting spot I only see a desk with a hutch, a small microwave-like unit on top, an office chair, and a doorway edge at the right, with no alarm clock anywhere on the surfaces. I will turn right to begin a steady scan of the surrounding room in one consistent direction.", + "The rotation has brought a closed white paneled door into view with the desk now at the left edge, and still no alarm clock on any visible surface. I will keep turning right to continue the sweep past this door and expose the wall beyond it.", + "The door now fills most of my view with bare patterned wallpaper beside it, so there is no surface here that could hold an alarm clock. I continue turning right in the same direction to keep uncovering new parts of the room.", + "I am now looking into a corner with a door on each side and empty carpet in between, which offers no clock and no place for one to sit. I will turn right again to keep the scan moving toward the unseen part of the space.", + "This heading shows another closed door set in a plain wall with bare floor in front of it, again with nothing resembling an alarm clock. I keep rotating right so the sweep stays consistent and reaches the remaining walls.", + "The view is mostly blank wallpaper with a door off to the left and open floor, so nothing here matches the target. I will continue turning right to bring the next stretch of wall and any furniture along it into view.", + "A tall dresser with drawers has come into view on the right, a promising bedroom cue even though its top is empty of any clock. I will turn right again to follow this furniture line and check the wall and any nightstand beyond it.", + "Now the dresser is centered, a framed picture hangs to its right, and the corner of a bed with striped bedding has appeared at the right edge, confirming this is a bedroom. I will turn right toward the bed, since a bedside table there is the most likely place for the alarm clock.", + "Continuing my steady rightward sweep of this bedroom, I now see a bed with a low nightstand beside it, and on that nightstand sits a small dark device showing red digits, which looks like the alarm clock I am after. It is still off toward the right edge of my view and quite far away, so I will keep turning right to bring that corner and the nightstand more fully in front of me.", + "The nightstand with the red-lit clock face is now clearly in view beside the bed, and the curtained window marks the corner it stands in. I will turn right once more to face the open carpet lane leading toward that corner so I can walk in without clipping the bed.", + "I am now facing along the free carpet toward the window corner, with the nightstand and its small red-lit clock just to the left of my heading. I will walk forward to close the distance to that corner of the room.", + "After stepping forward, the tall window and curtain fill most of my view while the nightstand with the red digital clock has shifted to my left. I will turn left to put that nightstand back near the center of my view before approaching further.", + "The nightstand is now in front of me with the small black clock and its red numerals plainly visible on top. I will walk forward to get close enough for a clear, unambiguous look at it.", + "I am close to the nightstand now, and the clock with its red display sits slightly left of my heading with the curtain crowding the right side. A small left turn should square me up on the nightstand top for a clean final view.", + "The nightstand and the black alarm clock with red digits are directly ahead of me at short range. One more step forward should bring me right up to the nightstand for a confident confirmation.", + "Standing this close, my view is filled with patterned wallpaper and the framed picture, so the nightstand top has dropped below my line of sight. I will look down to bring the tabletop and the clock on it back into view for verification.", + "The digital alarm clock sits clearly in view on the nightstand beside the bed. The clock is located, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003597_y-000323_z000469_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003597_y-000323_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0352f0755d934d91afe3f5a04a3bf3e7827b4409 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003597_y-000323_z000469_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the right-hand white paneled door at the end of the hallway.", + "Type": 4, + "Start_Pose": [ + 3597.437, + -323.275, + 468.621, + 0.0, + -65.424, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3597.437, + -323.275, + 468.621, + 0.0, + -65.424, + 0.0 + ], + [ + 3649.782, + -437.732, + 468.902, + 0.0, + -65.424, + 0.0 + ], + [ + 3649.782, + -437.732, + 468.902, + 0.0, + -40.424, + 0.0 + ], + [ + 3745.594, + -519.344, + 468.902, + 0.0, + -40.424, + 0.0 + ], + [ + 3841.406, + -600.956, + 468.15, + 0.0, + -40.424, + 0.0 + ], + [ + 3841.406, + -600.956, + 468.15, + 0.0, + -65.424, + 0.0 + ], + [ + 3893.751, + -715.414, + 468.15, + 0.0, + -65.424, + 0.0 + ], + [ + 3893.751, + -715.414, + 468.15, + 0.0, + -90.424, + 0.0 + ], + [ + 3884.888, + -798.417, + 468.15, + 0.0, + -90.424, + 0.0 + ], + [ + 3884.888, + -798.417, + 468.15, + 0.0, + -90.424, + 0.0 + ], + [ + 3884.888, + -798.417, + 468.15, + 0.0, + -90.424, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the entry area I can see two white paneled doors on the far wall at the end of the hallway, with the target being the right-hand one. I will move forward across the open floor to close the distance before I can judge which door frame to line up with.", + "Both paneled doors are now clearly ahead, and the one I need is the right member of the pair, currently offset to the right of my heading. I will turn right so my path points at that door rather than at the wall between the two.", + "With my heading now set toward the right-hand paneled door, the way ahead is clear wooden floor. I will move forward to shorten the gap to that door.", + "The paneled door and its handle are now much larger in view, so I am still short of reaching distance. I will continue forward to bring myself close to the door face.", + "After closing in, the door has slipped to the far left edge of my view and I am now facing mostly blank wall and the corner. I will turn left to bring the paneled door and its handle back to the center of my view.", + "The white paneled door with its lever handle and deadbolt is squarely in front of me again. I will step forward to get close enough that the handle is within reach.", + "At this close range only the right portion of the door and its handle remain at the left of my view, with the adjacent wall dominating the rest. I will turn left to face the door panel squarely so the handle sits in front of me.", + "The paneled door now fills my view with the lever handle and lock clearly visible slightly right of center. I will move forward a short step so the handle is within reach for an opening attempt.", + "I am now right up against the white paneled door with its lever handle and deadbolt filling my view at arm's length, so the target is within reach. The door still appears shut, so I will operate the handle now and it should swing open.", + "The paneled door now stands open, revealing the tiled room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003601_y000958_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003601_y000958_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d01ed187a8ba877d60302ec63c625852872c01f6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003601_y000958_z000468_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the window on the left.", + "Type": 2, + "Start_Pose": [ + 3600.995, + 958.229, + 468.15, + 0.0, + 133.564, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3600.995, + 958.229, + 468.15, + 0.0, + 133.564, + -0.0 + ], + [ + 3514.258, + 1049.427, + 468.15, + 0.0, + 133.564, + -0.0 + ], + [ + 3514.258, + 1049.427, + 468.15, + 0.0, + 158.564, + -0.0 + ], + [ + 3397.105, + 1095.424, + 468.15, + 0.0, + 158.564, + -0.0 + ], + [ + 3279.952, + 1141.42, + 468.15, + 0.0, + 158.564, + -0.0 + ], + [ + 3162.799, + 1187.417, + 468.15, + 0.0, + 158.564, + -0.0 + ], + [ + 3045.646, + 1233.414, + 468.15, + 0.0, + 158.564, + -0.0 + ], + [ + 3045.646, + 1233.414, + 468.15, + 0.0, + 133.564, + -0.0 + ], + [ + 2968.98, + 1325.359, + 468.15, + 0.0, + 133.564, + -0.0 + ], + [ + 2968.98, + 1325.359, + 468.15, + 0.0, + 133.564, + -0.0 + ] + ], + "Rationale": [ + "Two windows break the far bedroom wall, and my target is the left one of that pair, the one standing closest to the bed and its nightstand. A wide stretch of empty carpet separates me from that wall, so I will walk straight ahead to close the gap before refining my heading.", + "The window wall sits off to the right of my current heading, so walking straight would carry me past it into the open floor. I will turn right to swing that wall in front of me and put the window beside the bed on my forward line.", + "The turn worked, and both windows now sit ahead of me with my target, the one on the bed side, framed clearly. The distance is still large, so I will walk forward along this heading.", + "The window beside the bed is growing larger and stays on my forward line, with clear carpet between me and its sill. I will keep walking forward to shorten the remaining distance.", + "The window I am heading for now fills a good part of my view, its panes and sill clearly readable, but I am still several paces short of the wall. Another step forward should bring me close to it.", + "I am close enough that only my window and the curtain panels remain in view, the neighbouring window having slid out of sight to my right. A further step forward should bring me right up against its sill.", + "At this short range the window has drifted to the left edge of my view, with a curtain panel filling the right side. I will turn left to bring the glass squarely in front of me before taking the last step.", + "The turn centred the window, and I can now see its full frame with the nightstand and bed corner at my left. Only a short gap remains, so I will step forward to stand at the sill.", + "The window's sill is directly before me, filling my view at arm's reach. I have arrived at the target window, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003602_y000290_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003602_y000290_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e3e78e57452605438dde6a343f8cc03e0f8d25 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003602_y000290_z000169_t3_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "First, go to the bottom of the stairs, then go to the white door.", + "Type": 3, + "Start_Pose": [ + 3602.087, + 290.398, + 168.943, + 0.0, + 14.807, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3602.087, + 290.398, + 168.943, + 0.0, + 14.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 14.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + -10.193, + 0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + -10.193, + 0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 14.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 39.807, + -0.0 + ], + [ + 3723.766, + 322.563, + 168.943, + 0.0, + 64.807, + -0.0 + ], + [ + 3777.341, + 436.45, + 168.257, + 0.0, + 64.807, + -0.0 + ], + [ + 3830.915, + 550.337, + 168.257, + 0.0, + 64.807, + -0.0 + ], + [ + 3830.915, + 550.337, + 168.257, + 0.0, + 64.807, + -0.0 + ] + ], + "Rationale": [ + "From the doorway of this room I can see the wooden staircase descending on my left and a white panel door across the room on the right. My first destination is the foot of those stairs, so I will walk forward to close the open floor between me and them.", + "The bottom steps have slipped to the far left edge of my view and mostly out of sight, with only blank wall and a picture ahead of me. Turning left should bring the lowest treads and the newel post back in front of me so I can judge that I am at their base.", + "The lowest treads and the newel post at the end of the railing are directly in front of me, with the flat floor meeting the first step. I am standing at the bottom of the stairs. I mark reaching it, and now I head for the white door across the room.", + "The stairs fill my view while the white door sits somewhere off to my right, behind the wall with the framed picture. I will turn right to begin swinging my heading away from the steps and toward that side of the room.", + "The steps have dropped to my left edge and I can just catch a pale door frame at the far right border of my view. Another turn right should carry that white door further into the center of my heading.", + "The white panel door with its dark handle is now clearly in view, but it sits off to my right rather than straight ahead. One more turn right should place it near the middle of my heading so I can walk straight at it.", + "The white door is now roughly centered ahead of me with clear wooden floor between us and nothing blocking the way. I will walk forward to close that gap toward it.", + "The white door now fills most of my view and its lever handle is plainly visible, so I am close but still a step or so short of standing at it. I will move forward once more to bring myself right up to the door.", + "The white door's panelled surface fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003605_y000288_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003605_y000288_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba9fa08aa676b96a86a58b538165dc2d333bf88 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003605_y000288_z000169_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Cross the dim living room to the white paneled door and open it.", + "Type": 4, + "Start_Pose": [ + 3604.772, + 287.653, + 168.943, + 0.0, + 37.18, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3604.772, + 287.653, + 168.943, + 0.0, + 37.18, + 0.0 + ], + [ + 3705.049, + 363.712, + 168.943, + 0.0, + 37.18, + -0.0 + ], + [ + 3705.049, + 363.712, + 168.943, + 0.0, + 62.18, + -0.0 + ], + [ + 3763.787, + 475.024, + 168.176, + 0.0, + 62.18, + -0.0 + ], + [ + 3825.446, + 553.017, + 168.15, + 0.0, + 62.18, + -0.0 + ], + [ + 3825.446, + 553.017, + 168.15, + 0.0, + 62.18, + -0.0 + ], + [ + 3825.446, + 553.017, + 168.15, + 0.0, + 62.18, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dim room ahead is empty of obstacles and the white paneled door stands slightly right of center against the far wall. I will step forward across the open floor to close the distance toward that door.", + "From here the paneled door sits off to my right rather than straight ahead, so walking forward now would carry me past it into the corner wall. I will turn right to bring the door and its handle toward the center of my view before continuing.", + "The paneled door is now framed near the middle of my view with its handle clearly visible. I will walk forward along this heading to close the remaining gap to the door.", + "The door and its lever handle nearly fill my view, but I may still be a step short of comfortable reach. I will move forward a little more to stand directly at the door before trying the handle.", + "I am standing right against the white paneled door, with its panels filling my view at arm's length. This is close enough to operate the latch, so I will attempt to open the door now.", + "The paneled door now stands swung inward, revealing the space beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003611_y-000674_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003611_y-000674_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..46e760d89f710ac8cd5457fd5c461a2b13c8066e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003611_y-000674_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the front door.", + "Type": 0, + "Start_Pose": [ + 3610.729, + -674.155, + 168.206, + 0.0, + -120.03, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3610.729, + -674.155, + 168.206, + 0.0, + -120.03, + 0.0 + ], + [ + 3547.742, + -783.119, + 168.206, + 0.0, + -120.03, + 0.0 + ], + [ + 3484.756, + -892.083, + 168.206, + 0.0, + -120.03, + 0.0 + ], + [ + 3484.756, + -892.083, + 168.206, + 0.0, + -95.03, + 0.0 + ], + [ + 3473.721, + -1017.458, + 168.206, + 0.0, + -95.03, + 0.0 + ], + [ + 3462.686, + -1142.832, + 168.206, + 0.0, + -95.03, + 0.0 + ], + [ + 3451.651, + -1268.206, + 168.206, + 0.0, + -95.03, + 0.0 + ], + [ + 3451.651, + -1268.206, + 168.206, + 0.0, + -95.03, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the living room I can already see the front door across the open floor, flanked by two narrow sidelight windows. The path over the bare wood floor ahead looks clear, so I will move forward to begin closing that distance.", + "The door is noticeably larger in view now and the room ahead is still clear of furniture. I will continue straight forward to keep shrinking the gap to the entry.", + "The door now sits right of my heading center, so walking straight would carry me past it toward the wall with the television. I will turn slightly right to line my facing up with the doorway before advancing again.", + "After the slight turn the front door sits closer to the middle of my view with open floor leading to it. I will move forward along this corrected heading to approach the entry.", + "The door and its two sidelights now fill much of my view, so I am only a short distance from the threshold. I will step forward again to bring myself within reach of the door.", + "The door panel and its brass handle are directly in front of me at close range. One more short step forward should place me right at the front door.", + "The front door panel and its frame fill my view at arm's length. The task is complete, so I stop here at the door." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003616_y000445_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003616_y000445_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..932d3e3a6d20d4d747763230d8139fa57d9dc4e4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003616_y000445_z000169_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the table lamp on the side table.", + "Type": 0, + "Start_Pose": [ + 3616.305, + 445.199, + 168.898, + 0.0, + -59.98, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3616.305, + 445.199, + 168.898, + 0.0, + -59.98, + 0.0 + ], + [ + 3679.272, + 336.224, + 168.898, + 0.0, + -59.98, + 0.0 + ], + [ + 3742.24, + 227.249, + 168.898, + 0.0, + -59.98, + 0.0 + ], + [ + 3742.24, + 227.249, + 168.898, + 0.0, + -84.98, + 0.0 + ], + [ + 3753.253, + 101.873, + 168.898, + 0.0, + -84.98, + 0.0 + ], + [ + 3739.075, + -2.005, + 168.943, + 0.0, + -84.98, + 0.0 + ], + [ + 3739.075, + -2.005, + 168.943, + 0.0, + -59.98, + 0.0 + ], + [ + 3739.075, + -2.005, + 168.943, + 0.0, + -34.98, + 0.0 + ], + [ + 3739.075, + -2.005, + 168.943, + 0.0, + -34.98, + 0.0 + ] + ], + "Rationale": [ + "From the entry hall I can see a lit table lamp standing on a light colored side chest just ahead and slightly left, tucked against the wall beneath the staircase. The floor between me and it is clear hallway runner, so I will move forward to begin closing that distance.", + "The lamp and its chest now appear larger and closer, with the staircase banister passing on my right. I am still several steps short of the table, so another forward step should keep shrinking the gap.", + "The chest with the lamp is now close and sitting just left of my heading, with the wall under the stairs directly beyond it. Turning left should point me down the open hallway that runs alongside the chest, so I can pull up beside the lamp instead of pressing into its front face.", + "With the hallway now open in front of me and the lamp chest just off to my right, the path toward it is unobstructed. I will step forward to draw level with the side table.", + "The lamp and the chest top now loom large along my right edge, meaning I am nearly abreast of the side table but not yet fully beside it. One more short forward step should place me directly next to the lamp.", + "I have drawn level with the side chest, but my heading now runs past it down the hallway and the lamp has slipped to the right margin of my view. Turning right should bring the lamp back toward the center of my view.", + "The lamp is now clearly visible on the chest top at close range, but it still sits off to my right rather than square in front of me. A second turn right should finish squaring my facing onto the lamp.", + "The table lamp on the side chest is centered directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003619_y000185_z000469_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003619_y000185_z000469_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce1f3041532d2ff5df48a79264b223a0d8645027 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003619_y000185_z000469_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the sofa.", + "Type": 0, + "Start_Pose": [ + 3618.995, + 185.216, + 468.943, + 0, + 79.796, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3618.995, + 185.216, + 468.943, + 0, + 79.796, + 0 + ], + [ + 3641.291, + 309.084, + 468.943, + 0.0, + 79.796, + -0.0 + ], + [ + 3641.291, + 309.084, + 468.943, + 0.0, + 54.796, + -0.0 + ], + [ + 3713.848, + 411.924, + 468.943, + 0.0, + 54.796, + -0.0 + ], + [ + 3713.848, + 411.924, + 468.943, + 0.0, + 29.796, + -0.0 + ], + [ + 3823.068, + 474.465, + 468.15, + 0.0, + 29.796, + -0.0 + ], + [ + 3823.068, + 474.465, + 468.15, + 0.0, + 29.796, + -0.0 + ] + ], + "Rationale": [ + "I can already see a pale sofa against the left wall beside a small wooden side table, so the target is localized and no search is needed. The runner rug ahead of me marks a clear open stretch of floor, so I will step forward to close distance before refining my heading.", + "The sofa now sits at the far left edge of my view, partly cut off, while my heading still points down the hallway past the closed door. I will turn left to swing that heading toward the sofa so my next step advances straight at it.", + "The whole sofa is now visible ahead and slightly left, with the side table and potted plant framing it and clear wooden floor in between. I will walk forward to cut down the remaining distance to it.", + "As I have come closer, the sofa has spread across the lower left of my view and its far armrest is running off the edge, while the center of my view is filled by wall and the door. I will turn left again to recenter the sofa before advancing further.", + "The sofa is now centered ahead of me with the plant to its left and the side table to its right, and only a short patch of floor remains. I will step forward once more to bring myself right up beside it.", + "The sofa fills the near foreground directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003632_y-000767_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003632_y-000767_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45c0243b100a4c99f7d37772ac3f7ad5e50863a9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003632_y-000767_z000169_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk towards the television screen.", + "Type": 0, + "Start_Pose": [ + 3632.049, + -766.663, + 168.704, + 0.0, + -123.676, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3632.049, + -766.663, + 168.704, + 0.0, + -123.676, + 0.0 + ], + [ + 3562.261, + -871.401, + 168.15, + 0.0, + -123.676, + 0.0 + ], + [ + 3492.472, + -976.139, + 168.15, + 0.0, + -123.676, + 0.0 + ], + [ + 3492.472, + -976.139, + 168.15, + 0.0, + -148.676, + 0.0 + ], + [ + 3384.959, + -1041.571, + 168.15, + 0.0, + -148.676, + 0.0 + ], + [ + 3277.445, + -1107.002, + 169.175, + 0.0, + -148.676, + 0.0 + ], + [ + 3277.445, + -1107.002, + 169.175, + 0.0, + -173.676, + 0.0 + ], + [ + 3152.351, + -1120.865, + 169.175, + 0.0, + -173.676, + 0.0 + ], + [ + 3152.351, + -1120.865, + 169.175, + 0.0, + -148.676, + 0.0 + ], + [ + 3047.447, + -1143.86, + 168.15, + 0.0, + -148.676, + 0.0 + ], + [ + 3047.447, + -1143.86, + 168.15, + 0.0, + -148.676, + 0.0 + ] + ], + "Rationale": [ + "From the doorway side of this living room I can see a small lit television screen sitting on a white dresser against the far left wall. The floor between me and it is open, so I will move forward to start closing that distance.", + "The television and its dresser have grown noticeably larger on the left side of my view, confirming I am heading into the room correctly. There is still plenty of clear floor in front of me, so another forward step should bring the screen much closer.", + "I am now well inside the room, but the television has slid toward the left edge of my view while the front door wall fills the center. Turning left should swing my heading back onto the screen so I can keep advancing straight at it.", + "The television on its dresser now sits in the middle band of my view with the sofa and window off to the left. With open floor and rug between us, I will move forward to shorten the gap.", + "The screen and the framed picture above it are clearly larger, so my heading is carrying me straight toward the television. I will take another forward step to get within a close viewing distance.", + "I am close to the dresser wall now, and the blank wall panel directly ahead of me leaves little room to keep pushing straight forward. Turning left should point me along the open floor of the seating area while keeping the screen in view for the final approach.", + "From this heading the room opens up with the sofa and window on my left and the lit television standing on the dresser to my right. Moving forward should carry me alongside and nearer to the screen.", + "I am right beside the dresser now and the television screen sits at the right side of my view, with the window and sofa filling the left. Turning right should bring the screen squarely in front of me for the last short step.", + "The television now sits centered ahead of me on its dresser, with its lit screen clearly readable and no obstruction between us. A short step forward should close the last bit of distance and bring me right up to the screen.", + "The television screen fills my view at arm's length, its menu text sharply readable. The task is complete, so I stop here rather than crowd the set." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003645_y-000837_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003645_y-000837_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..187b773901f1c822a2fa1c2cd937cd2d05c4a84a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003645_y-000837_z000168_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Explore the house and go to the TV.", + "Type": 1, + "Start_Pose": [ + 3644.7, + -836.857, + 168.15, + 0.0, + -1.756, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3644.7, + -836.857, + 168.15, + 0.0, + -1.756, + 0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 23.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 48.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 73.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 98.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 123.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 148.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + 173.244, + -0.0 + ], + [ + 3644.7, + -836.857, + 168.15, + 0.0, + -161.756, + 0.0 + ], + [ + 3525.168, + -876.259, + 168.15, + 0.0, + -161.756, + 0.0 + ], + [ + 3525.168, + -876.259, + 168.15, + 0.0, + -136.756, + 0.0 + ], + [ + 3433.487, + -962.486, + 168.15, + 0.0, + -136.756, + 0.0 + ], + [ + 3341.805, + -1048.713, + 168.15, + 0.0, + -136.756, + 0.0 + ], + [ + 3341.805, + -1048.713, + 168.15, + 0.0, + -161.756, + 0.0 + ], + [ + 3222.273, + -1088.115, + 169.326, + 0.0, + -161.756, + 0.0 + ], + [ + 3102.741, + -1127.517, + 169.326, + 0.0, + -161.756, + 0.0 + ], + [ + 3102.741, + -1127.517, + 169.326, + 0.0, + -136.756, + 0.0 + ], + [ + 3102.741, + -1127.517, + 169.326, + 0.0, + -136.756, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a fireplace, a framed picture, and a tall bookshelf, with no television anywhere in this narrow view. I will begin a steady scan to my right to open up the rest of the room and find a living area where a TV would plausibly sit.", + "The bookshelf and a tall closed cabinet fill this side of the room, and still no television is visible. On the right edge an archway opens onto another space, so I will keep rotating in the same direction to bring that opening into full view.", + "Through the arch I can now see a hallway with a runner rug and a staircase further along, but no screen yet. Continuing my rightward scan should reveal how far that hallway leads and whether it connects to a room with a TV.", + "The corridor ahead is mostly lamp, dresser and stairs, with nothing resembling a television. I will hold the same rightward turning direction to keep sweeping consistently rather than doubling back over ground I have already looked at.", + "A closed paneled door now dominates the right side of my view and the hallway continues off to the left, but there is still no TV. I will continue turning right to check what lies beyond that door frame along this wall.", + "This angle gives me mostly blank wall and the closed door, which offers no useful cue for the television. Keeping the same rotation direction should swing my view past this corner into whatever room opens on the other side.", + "On my right a bright living area is opening up, with a large sectional sofa, a rug and a curtained window. That is a strong cue for where a TV would be placed, so I will keep turning right to bring the whole seating area into view.", + "I can now see a small lit screen sitting on a low white dresser on the far right side of this living room, which matches the television I am looking for. I will turn right once more to bring it closer to the center of my view before walking toward it.", + "From this doorway I can see the full living room, and a small television is sitting on the white dresser against the far wall to the right of the window. The floor between me and the seating area is open, so I will walk forward to close distance on that television instead of continuing to scan the house. This should bring the screen large enough in view to confirm it.", + "I am now inside the living room and the television on the dresser sits to the right of the window, off to the right of my current heading. Walking straight ahead would take me into the sofa and ottoman, so I will turn right to point my path at the open floor leading to that dresser corner. This should give me a clear lane toward the screen.", + "The television and its dresser are now clearly in view ahead and slightly left, with the framed seascape above them and the entry door further right. Nothing blocks the bare floor between me and that corner, so I will step forward to shorten the distance. The screen should grow noticeably closer with this step.", + "The television is visibly larger and closer on the dresser to my left-forward, so my advance is working. The stretch of floor in front of me is still clear, with the potted plant and side table safely off to the right. I will keep walking forward to reach the area directly in front of the screen.", + "I am close to the dresser now, but the television has drifted to the left side of my view while the wall corner and plant fill the middle and right. I will turn left to bring the screen back toward the center of my heading before advancing again. That should let me approach it straight on.", + "The turn worked, and the television on the low white dresser now sits ahead of me with the seascape print above it. The floor between the rug edge and the dresser is open, so I will step forward to get within close range of the screen. This should put me practically in front of the television.", + "The television is now large in my view, its screen text legible, sitting on the dresser just ahead and slightly right. I will take one more step forward to stand right at the dresser rather than stopping short in the middle of the room. That should place me immediately at the television.", + "I am standing right at the dresser, but the television is pushed to the right edge of my view with the blank wall and window filling the left. I will turn right so the screen sits squarely in front of me. That should give me a clean, centered look at the target before I settle.", + "The lit TV screen fills my view directly ahead, close enough to touch on its stand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003665_y-002119_z000148_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003665_y-002119_z000148_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1141434fd12fffd12c793ae61d59b95a789549 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003665_y-002119_z000148_t4_a/infos.json @@ -0,0 +1,161 @@ +{ + "Instruction": "Cross the poolside patio to the white door beneath the covered entry and open it.", + "Type": 4, + "Start_Pose": [ + 3665.083, + -2119.248, + 148.436, + 0.0, + 117.193, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3665.083, + -2119.248, + 148.436, + 0.0, + 117.193, + 0.0 + ], + [ + 3607.567, + -2007.3, + 149.883, + 0.0, + 117.193, + -0.0 + ], + [ + 3550.051, + -1895.352, + 182.085, + 0.0, + 117.193, + -0.0 + ], + [ + 3492.534, + -1783.404, + 168.963, + 0.0, + 117.193, + -0.0 + ], + [ + 3435.018, + -1671.456, + 149.865, + 0.0, + 117.193, + -0.0 + ], + [ + 3435.018, + -1671.456, + 149.865, + 0.0, + 92.193, + -0.0 + ], + [ + 3430.202, + -1545.689, + 149.865, + 0.0, + 92.193, + -0.0 + ], + [ + 3425.386, + -1419.922, + 149.865, + 0.0, + 92.193, + -0.0 + ], + [ + 3425.386, + -1419.922, + 149.865, + 0.0, + 92.193, + -0.0 + ], + [ + 3425.386, + -1419.922, + 149.865, + 0.0, + 117.193, + -0.0 + ], + [ + 3375.305, + -1396.991, + 149.883, + 0.0, + 117.193, + -0.0 + ], + [ + 3375.305, + -1396.991, + 149.883, + 0.0, + 117.193, + -0.0 + ], + [ + 3375.305, + -1396.991, + 149.883, + 0.0, + 117.193, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white door under the covered entry is visible ahead on the left side of the house, with open patio paving leading toward it. I will move forward across the paving to close the large distance between me and that entry.", + "The covered entry and its white door now fill more of my view, so my heading across the patio is still carrying me toward the target. I will continue forward since the paving ahead remains unobstructed.", + "I am now under the edge of the porch roof and the white door with its sidelights sits clearly ahead and slightly left. Another step forward should bring me close enough to work with the handle.", + "The door panel and its brass handle are close and detailed now, but I am still offset to its right rather than standing before it. I will step forward again to reach a workable distance from the entry.", + "I am close to the wall, but the white door sits toward the left edge of my view while my heading points along the siding past it. Turning left should bring the door and its handle into the center of my view for a straight approach.", + "The white door under the covered entry is now centered squarely ahead of me with its two sidelights framing it evenly, so my heading is good. I will move forward across the remaining stretch of patio slab to close the distance toward the doorway.", + "The door now fills most of my view and I can make out the brass lever and deadbolt on its right side, but I am still standing off the threshold. I will step forward again to bring myself within arm's reach of the door before trying the handle.", + "I am pressed right up against the white paneled door, close enough that its raised panels and the jamb on my left are all I can see. Since I appear to be within reach of the latch, I will try to open the door now.", + "My attempt to open the door did not move it, and the view in front of me shows only blank panel and the hinge-side jamb on my left, with no latch hardware in reach. The handle sits toward the opposite stile, so I will turn right to bring the latch side of the door into view.", + "Turning has brought the brass lever and deadbolt into view on the right side of the door, next to the sidelight, confirming the latch side I need. I will edge forward to position myself directly at that hardware so a further attempt at the handle may register.", + "My earlier attempt on this white door left it shut, since I was squared up on a blank panel well away from the hardware. Now the brass lever and its escutcheon fill the near center of my view at arm's length, so I am properly positioned on the latch side. I will try the door again from this grip position, which should release the latch and swing it open.", + "The white door now stands open, revealing the interior hallway with wood flooring and a side table. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003668_y-000136_z000469_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003668_y-000136_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5271d0fdbd39691898107909d7af706442a9ab24 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003668_y-000136_z000469_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Open the leftmost white paneled door along the hallway.", + "Type": 4, + "Start_Pose": [ + 3668.389, + -136.326, + 468.838, + 0.0, + -56.681, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3668.389, + -136.326, + 468.838, + 0.0, + -56.681, + 0.0 + ], + [ + 3668.389, + -136.326, + 468.838, + 0.0, + -81.681, + 0.0 + ], + [ + 3686.599, + -260.861, + 468.838, + 0.0, + -81.681, + 0.0 + ], + [ + 3704.809, + -385.395, + 468.838, + 0.0, + -81.681, + 0.0 + ], + [ + 3723.018, + -509.93, + 468.838, + 0.0, + -81.681, + 0.0 + ], + [ + 3723.018, + -509.93, + 468.838, + 0.0, + -106.681, + 0.0 + ], + [ + 3686.891, + -630.493, + 468.838, + 0.0, + -106.681, + 0.0 + ], + [ + 3650.765, + -751.055, + 468.15, + 0.0, + -106.681, + 0.0 + ], + [ + 3650.765, + -751.055, + 468.15, + 0.0, + -106.681, + 0.0 + ], + [ + 3618.732, + -798.385, + 468.15, + 0.0, + -106.681, + 0.0 + ], + [ + 3618.732, + -798.385, + 468.15, + 0.0, + -106.681, + 0.0 + ], + [ + 3618.732, + -798.385, + 468.15, + 0.0, + -106.681, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I can see two white paneled doors set into the far wall on my left side, so my target should be the leftmost of that pair. I will turn left to bring both doors into the center of my view before committing to an approach.", + "The pair of white paneled doors is now roughly ahead of me down the hallway, with the runner rug leading toward them. I will move forward along the open floor to close the distance before choosing the left one.", + "The two doors have grown larger ahead of me and their handles are becoming visible, so my heading is still good. I will keep advancing since nothing blocks the floor between me and the far wall.", + "Both doors now fill much of my view but I am still too far back to reach either handle. I will step forward again to get within arm's reach of the wall holding the two doors.", + "I am close to the wall and can see both doors, with the target leftmost door sitting off to the left of my current heading. I will turn left so that door and its handle are centered in front of me for the interaction.", + "After turning, the leftmost white paneled door now sits ahead of me with its frame and lever handle clearly in view, while the second door has slid off to the right edge. I will move forward along the wall to close the remaining distance to that left door.", + "The target door now fills most of my view and its lever handle is plainly visible, but I am still a step or so short of comfortable reach. I will advance once more to bring the handle within interaction range.", + "I am now right up against the leftmost paneled door, with its lever handle and small deadbolt directly in front of me. This is the correct target for the task, so I will try to operate the handle and open it.", + "My attempt on the handle left the door unchanged and still shut in front of me, so my standing position may be slightly too far for a reliable grip. I will edge forward a short distance to tighten my position on the handle before trying again.", + "From this tighter position the deadbolt and lever handle of the leftmost door are directly under my viewpoint, closer than during my earlier unsuccessful attempt. I will operate the handle again, which should now be within proper reach to swing the door open.", + "The white paneled door now stands open, revealing the room beyond with its desk and chair. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003694_y-000227_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003694_y-000227_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5cee5ad614da4ee23981bd91f4c6c25df9d1d7af --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003694_y-000227_z000169_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Open the dark grid-window door directly ahead.", + "Type": 4, + "Start_Pose": [ + 3694.426, + -226.884, + 168.854, + 0.0, + -178.982, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3694.426, + -226.884, + 168.854, + 0.0, + -178.982, + 0.0 + ], + [ + 3694.426, + -226.884, + 168.854, + 0.0, + 156.018, + -0.0 + ], + [ + 3579.432, + -175.729, + 168.15, + 0.0, + 156.018, + -0.0 + ], + [ + 3464.438, + -124.573, + 168.15, + 0.0, + 156.018, + -0.0 + ], + [ + 3349.444, + -73.418, + 168.15, + 0.0, + 156.018, + -0.0 + ], + [ + 3265.118, + -24.701, + 168.405, + 0.0, + 156.018, + -0.0 + ], + [ + 3252.319, + 26.677, + 168.15, + 0.0, + 156.018, + -0.0 + ], + [ + 3252.319, + 26.677, + 168.15, + 0.0, + 156.018, + -0.0 + ], + [ + 3252.319, + 26.677, + 168.15, + 0.0, + 156.018, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark grid-window door sits well off to my left edge of view, so a straight advance would carry me past it into the empty room. I will turn left to bring that door toward the center of my heading before moving. This should give me a clean straight approach line to it.", + "The dark grid-window door is now framed ahead of me through the room opening, with clear wooden floor in between. I will move forward along this line to close the large remaining distance. Nothing appears to block the path, so the door should grow larger ahead.", + "I am now inside the room with the door and its sidelight clearly ahead and slightly right of center. The gap is still several steps wide, so I will keep advancing on this heading. My alignment looks good enough that no turn is needed yet.", + "The door frame and its tall sidelight now fill a large part of my view, but I am still too far back to reach the handle. I will step forward again to shorten that gap. The floor ahead remains clear of furniture.", + "The dark panelled door and its brass handle are now close on my left, with the sidelight showing the porch beyond. I still need a little more forward travel to stand squarely in front of the door leaf. I will advance once more before attempting the handle.", + "The dark door edge is at my left and the frame post fills the middle, so I am beside the door rather than centered on it. A short additional step forward should put the door leaf directly in front of me for interaction. I will move forward before reaching for the handle.", + "The dark panelled door now fills my view at contact range, with its round knob and lever handle right in front of me on the left. This is the position I need to operate it, so I will attempt to open the door. It should swing clear and reveal the porch beyond.", + "The dark grid-window door stands open with the porch and street now visible ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003723_y001158_z-000132_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003723_y001158_z-000132_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e33bd7f13b1aa0ed97949da128fbaed934ff74c1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003723_y001158_z-000132_t4_a/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Turn away from the garage workbench and storage racks, locate the side door, and open it.", + "Type": 4, + "Start_Pose": [ + 3722.771, + 1157.954, + -131.85, + 0.0, + 75.856, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3722.771, + 1157.954, + -131.85, + 0.0, + 75.856, + 0.0 + ], + [ + 3722.771, + 1157.954, + -131.85, + 0.0, + 50.856, + -0.0 + ], + [ + 3722.771, + 1157.954, + -131.85, + 0.0, + 25.856, + -0.0 + ], + [ + 3722.771, + 1157.954, + -131.85, + 0.0, + 0.856, + -0.0 + ], + [ + 3722.771, + 1157.954, + -131.85, + 0.0, + -24.144, + 0.0 + ], + [ + 3722.771, + 1157.954, + -131.85, + 0.0, + -49.144, + 0.0 + ], + [ + 3805.103, + 1062.76, + -131.85, + 0.0, + -49.144, + 0.0 + ], + [ + 3805.103, + 1062.76, + -131.85, + 0.0, + -74.144, + 0.0 + ], + [ + 3848.03, + 954.96, + -61.912, + 0.0, + -74.144, + 0.0 + ], + [ + 3874.019, + 833.948, + 29.426, + 0.0, + -74.144, + 0.0 + ], + [ + 3874.019, + 833.948, + 29.426, + 0.0, + -99.144, + 0.0 + ], + [ + 3854.018, + 709.688, + 127.684, + 0.0, + -99.144, + 0.0 + ], + [ + 3836.565, + 651.62, + 169.033, + 0.0, + -99.144, + 0.0 + ], + [ + 3836.565, + 651.62, + 169.033, + 0.0, + -99.144, + 0.0 + ], + [ + 3836.565, + 651.62, + 169.033, + 0.0, + -99.144, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "Straight ahead I only see the plywood garage wall, a work table with a box, and the loaded storage racks on my right, none of which is a door. Since the task tells me to turn away from this workbench and rack area, I will pivot left to sweep new parts of the garage into view. A side door should appear somewhere along the walls I have not inspected yet.", + "The new heading still shows benches, bins and a wall cabinet against the block wall, so this stretch holds no exit. Continuing the same leftward sweep is the cheapest way to keep uncovering wall sections. I will turn left again and look for a door frame.", + "A tall plywood panel has come into the left side of my view along with more of the block wall, but it is a leaning board rather than a usable door. The scan is clearly moving away from the bench and rack side of the garage, so I will keep rotating left. Something more promising may sit further around this corner.", + "Now I can see conduit on the block wall, the leaning plywood sheet, and the bottom of a wooden staircase entering at the far left. That staircase suggests the way out of this garage lies on that side, so I will turn left again to bring it fully into view.", + "The staircase now fills the left half of my view while the plywood board and block wall sit to the right, so I am not yet squared up with the stairs. One more leftward step should center that stairway and reveal whatever is at its top landing. I will turn left again.", + "The full flight of stairs is now in front of me and I can make out a pale panelled door at the top landing, which matches the side door I need. Standing back here I am too far to interact with it, so I will move forward to close on the base of the stairs. That should put the stairway within climbing range.", + "After closing in, the treads and the right handrail fill my view at an angle and the door at the landing has slipped out of sight, so my heading is skewed across the staircase. Turning left should square me with the stair run and bring the door back into the center of my view. I will rotate left before climbing.", + "The staircase is now centered ahead with the white panelled door directly at the top of the run, so my heading is good for the climb. I will move forward along the treads to reduce the distance to that door. Repeated forward motion should eventually place me at the landing within reach of its handle.", + "The pale panelled door at the head of the staircase is still several steps above me, so I have not reached any position where I could reach its handle. I will move forward again to climb closer to that door before worrying about fine alignment.", + "From this point on the stairs the door has drifted to the far left edge of my view while the brick wall and railing dominate the right side. I will turn left to bring the door back toward the center of my heading so the remaining climb leads straight into it.", + "The door now sits centered at the top of the remaining treads, with its knob just visible on its left side. I will move forward along this heading to close the last stretch of stairs toward it.", + "The door fills nearly my whole view now and its lever handle sits at the upper left, so I am close but likely not yet within comfortable reach of that hardware. I will take one short step forward to bring the handle into interaction range.", + "I am squarely in front of the door with its lever handle and deadbolt right beside me at close range. This is the side door I was sent to find, so I will attempt to open it from here and expect the latch to release.", + "The door now stands open, revealing the lit hallway and staircase beyond its frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003741_y-000286_z000469_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003741_y-000286_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c2ae28074314e435b865ae23b85bfd08aedd142 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003741_y-000286_z000469_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the white paneled door to the left of the console table and tall plant.", + "Type": 4, + "Start_Pose": [ + 3740.587, + -286.183, + 468.739, + 0.0, + -41.337, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3740.587, + -286.183, + 468.739, + 0.0, + -41.337, + 0.0 + ], + [ + 3740.587, + -286.183, + 468.739, + 0.0, + -66.337, + 0.0 + ], + [ + 3791.101, + -401.46, + 468.15, + 0.0, + -66.337, + 0.0 + ], + [ + 3841.616, + -516.737, + 468.15, + 0.0, + -66.337, + 0.0 + ], + [ + 3892.13, + -632.014, + 468.15, + 0.0, + -66.337, + 0.0 + ], + [ + 3892.13, + -632.014, + 468.15, + 0.0, + -91.337, + 0.0 + ], + [ + 3889.193, + -757.839, + 468.15, + 0.0, + -91.337, + 0.0 + ], + [ + 3889.193, + -757.839, + 468.15, + 0.0, + -91.337, + 0.0 + ], + [ + 3869.915, + -803.0, + 468.15, + 0.0, + -91.337, + 0.0 + ], + [ + 3869.915, + -803.0, + 468.15, + 0.0, + -91.337, + 0.0 + ], + [ + 3869.915, + -803.0, + 468.15, + 0.0, + -91.337, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the console table with the tall potted plant sits against the right wall, and the white paneled door I need is far off to my left edge, only partly visible. I will turn left so that door and the wall it sits in move toward the center of my view for a clean approach.", + "The door wall is now ahead of me and I can see two white paneled doors across it, with the console table and plant to their right. The floor between me and that wall is clear, so I will move forward to close the distance before choosing the correct door.", + "The doors are larger now and the one beside the console table and plant is clearly the one described in the task. Nothing blocks the path ahead, so I will keep moving forward to get within reach of its handle.", + "The paneled door with its brass handle is directly ahead and only a short gap of floor remains before the wall. I will advance once more to bring myself close enough that the handle is within interaction range.", + "I am now very close to the wall, but my heading has drifted so that only the right portion of the door and its handle sit at the left edge while blank wall fills most of my view. I will turn left to square myself with the door so the handle sits in front of me for the opening attempt.", + "The white paneled door now sits squarely centered ahead of me with its lever handle clearly visible, so my heading is good. I still have a couple of steps of open floor between me and the frame, so I will move forward to close that gap and bring the handle within reach.", + "The door panel now fills my view and the brass lever with its lock plate is directly in front of me at arm level. This looks like a workable interaction position, so I will try to open the door.", + "My attempt on the handle left the door shut, with the lever and frame edge unchanged in front of me, so I was likely still a little short of a valid interaction range. I will step forward slightly to press closer to the panel before trying the handle again.", + "I am now pressed right against the paneled surface, close enough that only the door's molding fills my view, which is much nearer than where my earlier attempt failed. From this contact distance the latch should be within reach, so I will attempt to open the door again.", + "The white paneled door now stands open, revealing the tiled bathroom beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003743_y000474_z000469_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003743_y000474_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b19c196b5ad7616a06fba2fbb55135553fa5c17 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003743_y000474_z000469_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door to the left of the small framed picture.", + "Type": 4, + "Start_Pose": [ + 3743.22, + 473.669, + 468.939, + 0.0, + 90.106, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3743.22, + 473.669, + 468.939, + 0.0, + 90.106, + 0.0 + ], + [ + 3742.987, + 599.528, + 468.939, + 0.0, + 90.106, + -0.0 + ], + [ + 3742.987, + 599.528, + 468.939, + 0.0, + 65.106, + -0.0 + ], + [ + 3795.966, + 713.693, + 468.297, + 0.0, + 65.106, + -0.0 + ], + [ + 3848.217, + 803.008, + 468.15, + 0.0, + 65.106, + -0.0 + ], + [ + 3848.217, + 803.008, + 468.15, + 0.0, + 65.106, + -0.0 + ], + [ + 3848.217, + 803.008, + 468.15, + 0.0, + 65.106, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I can see the white paneled door on the left portion of the wall ahead, with the small framed picture to its right, so the target is already identified. I will move forward to close the open floor distance before worrying about precise heading.", + "From here the door fills the left part of my view while the framed picture sits at center-right, so my heading is offset to the right of the target. I will turn left to bring the door and its knob toward the middle of my view for a straight approach.", + "The paneled door is now centered in front of me with the picture pushed to the right edge, so my heading looks correct. I will move forward to get within reach of the knob.", + "The door now fills most of my view and the knob sits just right of center, but there is still a small gap before I am within interaction range. I will advance once more to close that remaining distance to the panel.", + "I am pressed right up against the white paneled door, with its raised panel molding filling my view, so I am clearly within reach of the latch. I will try to open the door now, which should swing it clear of the doorway.", + "The paneled door now stands swung open, revealing the carpeted room and closet beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003792_y001051_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003792_y001051_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..937c5e82a0b1dbf23d1c25db29d049179251605b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003792_y001051_z000468_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the plant near the bed area.", + "Type": 0, + "Start_Pose": [ + 3791.876, + 1051.142, + 468.15, + 0.0, + 139.572, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3791.876, + 1051.142, + 468.15, + 0.0, + 139.572, + 0.0 + ], + [ + 3791.876, + 1051.142, + 468.15, + 0.0, + 164.572, + -0.0 + ], + [ + 3670.552, + 1084.624, + 468.15, + 0.0, + 164.572, + -0.0 + ], + [ + 3549.228, + 1118.106, + 468.15, + 0.0, + 164.572, + -0.0 + ], + [ + 3427.905, + 1151.588, + 468.15, + 0.0, + 164.572, + -0.0 + ], + [ + 3427.905, + 1151.588, + 468.15, + 0.0, + 139.572, + -0.0 + ], + [ + 3427.905, + 1151.588, + 468.15, + 0.0, + 114.572, + -0.0 + ], + [ + 3375.568, + 1266.049, + 468.15, + 0.0, + 114.572, + -0.0 + ], + [ + 3375.568, + 1266.049, + 468.15, + 0.0, + 89.572, + -0.0 + ], + [ + 3376.508, + 1391.904, + 468.15, + 0.0, + 89.572, + -0.0 + ], + [ + 3377.448, + 1517.76, + 468.15, + 0.0, + 89.572, + -0.0 + ], + [ + 3377.448, + 1517.76, + 468.15, + 0.0, + 89.572, + -0.0 + ] + ], + "Rationale": [ + "From here the bedroom with its bed and a leafy plant sits ahead to my left, but a low partition wall and door panel crowd that side and block a straight approach. I will turn right to face the open carpet that leads around the partition into the bedroom area. That heading should give me a clear run toward the bed and the plant beside it.", + "The partition is now off to my left and a wide stretch of empty carpet runs ahead into the bedroom with the bed and windows. I will move forward along this clear lane to close distance on the bed area where the plant stands. Nothing blocks the floor in front of me.", + "The bed and its bench are noticeably larger on my left and the fireplace wall has slid to my right, so I am gaining ground on the sleeping area. The floor directly ahead is still open carpet. I will continue forward to get abreast of the bed before turning toward the plant.", + "I am now inside the bedroom proper with the bed filling much of my left side and the windows straight ahead. There is still open floor in front, so one more step forward should bring me level with the head of the bed where the plant should sit. I will keep moving forward.", + "I am close to the window wall now, and the bed with its headboard lies off to my left rather than in front of me. I will turn left to swing my heading toward the bed area where the plant should be standing. That should bring the headboard side of the room into the center of my view.", + "The bed and nightstands have come into view but they still sit left of center, and I can just catch greenery at the far left edge near the archway. Another left turn should place the plant beside the bed near the middle of my view. I will turn left again.", + "The potted plant near the head of the bed is now clearly in view beside the floor lamp and column, but it is still several steps away. The carpet between me and it is empty. I will move forward to close that distance.", + "The plant is closer now but sits toward the left side of my view while the bed dominates the right. I will turn left to bring the potted plant into the center of my heading so I can walk straight up to it.", + "The potted plant beside the bed's nightstand is now roughly centered ahead of me, standing against the wall next to the floor lamp and the column. My heading looks well aligned with it, so I will step forward to close the remaining open carpet between us.", + "The plant now fills much more of my view and its pot is clearly visible on the floor just ahead, so the last step brought me noticeably closer. There is still a short gap of carpet before I am right at it, so I will advance once more to finish closing the distance.", + "The plant's leaves fill my view at arm's length beside the bed area wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003801_y-000291_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003801_y-000291_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84a410b11a6af321c2de45632461b806453dd41a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003801_y-000291_z000468_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the nearest white paneled door in the hallway.", + "Type": 4, + "Start_Pose": [ + 3800.579, + -290.975, + 468.15, + 0.0, + 136.007, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3800.579, + -290.975, + 468.15, + 0.0, + 136.007, + -0.0 + ], + [ + 3710.033, + -203.557, + 468.87, + 0.0, + 136.007, + -0.0 + ], + [ + 3619.487, + -116.139, + 468.87, + 0.0, + 136.007, + -0.0 + ], + [ + 3619.487, + -116.139, + 468.87, + 0.0, + 136.007, + -0.0 + ], + [ + 3601.596, + -33.411, + 468.923, + 0.0, + 136.007, + -0.0 + ], + [ + 3601.596, + -33.411, + 468.923, + 0.0, + 161.007, + -0.0 + ], + [ + 3601.596, + -33.411, + 468.923, + 0.0, + 161.007, + -0.0 + ], + [ + 3601.596, + -33.411, + 468.923, + 0.0, + 161.007, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this end of the hallway I can see a white paneled door set into the right-hand wall, and it is the closest door in sight. It is still several steps away, so I will move forward along the corridor to close that distance before trying anything with the handle.", + "The paneled door now fills much more of the right side of my view, but I am still standing back from its frame and the handle is not within arm's reach. I will advance once more down the hallway to bring myself alongside the door.", + "I am now right beside the white paneled door, with its panels filling most of my view and the lever handle and keyhole visible ahead of me. This looks close enough to reach the handle, so I will attempt to open the door.", + "My attempt at the handle produced no change, the door leaf still sits flush and closed in front of me. The handle may simply be beyond effective reach from this standoff, so I will step forward to get closer to it.", + "I am now very close to the door, but my heading has drifted so that the keyhole and lever handle sit at the far right edge of my view while the frame and wall take up the center. Since my earlier attempt from a worse position left the door closed, I will turn right to bring the handle into the middle of my view before trying again.", + "An earlier attempt on this white paneled door left it shut, so I closed in and shifted my heading until the lever handle and keyhole now sit squarely in front of me. From this tighter, better centered position the handle should be within reach, so I will try opening the door again.", + "The door now stands open, revealing the kitchen with cabinets and a window beyond the frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003802_y-001190_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003802_y-001190_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb62790d061830505acb05c05ae2a46e29ace39 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003802_y-001190_z000468_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white paneled door to the right of the double-sink vanity.", + "Type": 4, + "Start_Pose": [ + 3802.037, + -1190.376, + 468.15, + 0.0, + 56.801, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3802.037, + -1190.376, + 468.15, + 0.0, + 56.801, + -0.0 + ], + [ + 3802.037, + -1190.376, + 468.15, + 0.0, + 81.801, + -0.0 + ], + [ + 3819.986, + -1065.803, + 468.15, + 0.0, + 81.801, + -0.0 + ], + [ + 3837.935, + -941.231, + 468.15, + 0.0, + 81.801, + -0.0 + ], + [ + 3837.935, + -941.231, + 468.15, + 0.0, + 81.801, + -0.0 + ], + [ + 3853.566, + -901.621, + 468.15, + 0.0, + 81.801, + -0.0 + ], + [ + 3853.566, + -901.621, + 468.15, + 0.0, + 81.801, + -0.0 + ], + [ + 3853.566, + -901.621, + 468.15, + 0.0, + 81.801, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this spot beside the double-sink vanity I can see the white paneled door set in the far wall to my right, off the center of my view. I will turn right to bring that door and its handle in front of me so I have a straight path toward it.", + "The paneled target door now sits roughly ahead of me across the open tile floor, with the tall cabinet to its left and clear floor between us. I will move forward to close that distance, since the handle is still far too distant to reach.", + "The white paneled door now fills much of my view, and its brass knob and lever are clearly visible on the left edge of the leaf. I am still a step or two short of reach, so I will move forward again to get in front of the handle.", + "I am now directly facing the closed white paneled door with its knob and lever filling the left of my view at hand height. I will try to operate the handle and push the door open.", + "My attempt on the handle left the door exactly as it was, still shut with the lever unmoved, so I was probably not quite close enough for the interaction to register. I will step forward to press right up against the leaf and tighten my position on the handle before trying again.", + "My earlier attempt at the handle left the white paneled door shut, so I closed the remaining gap and the panel now fills my view at contact range. From this tighter position I will try the opening interaction again, which should register on the latch this time.", + "The paneled door now stands open, revealing the hallway with its runner and side table beyond the frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003805_y-000841_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003805_y-000841_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f83438387a9b9cae30c439fc6e046aba1b35d7c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003805_y-000841_z000168_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the white door.", + "Type": 0, + "Start_Pose": [ + 3805.151, + -841.029, + 168.15, + 0.0, + -144.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3805.151, + -841.029, + 168.15, + 0.0, + -144.8, + 0.0 + ], + [ + 3805.151, + -841.029, + 168.15, + 0.0, + -169.8, + 0.0 + ], + [ + 3681.281, + -863.317, + 168.15, + 0.0, + -169.8, + 0.0 + ], + [ + 3557.411, + -885.604, + 168.15, + 0.0, + -169.8, + 0.0 + ], + [ + 3557.411, + -885.604, + 168.15, + 0.0, + -144.8, + 0.0 + ], + [ + 3557.411, + -885.604, + 168.15, + 0.0, + -119.8, + 0.0 + ], + [ + 3494.862, + -994.82, + 168.15, + 0.0, + -119.8, + 0.0 + ], + [ + 3494.862, + -994.82, + 168.15, + 0.0, + -94.8, + 0.0 + ], + [ + 3484.331, + -1120.238, + 168.15, + 0.0, + -94.8, + 0.0 + ], + [ + 3473.799, + -1245.656, + 168.15, + 0.0, + -94.8, + 0.0 + ], + [ + 3473.799, + -1245.656, + 168.15, + 0.0, + -119.8, + 0.0 + ], + [ + 3405.753, + -1298.315, + 168.15, + 0.0, + -119.8, + 0.0 + ], + [ + 3405.753, + -1298.315, + 168.15, + 0.0, + -119.8, + 0.0 + ] + ], + "Rationale": [ + "The white exterior door with its narrow side windows stands ahead and to my right, but the cream loveseat sits directly in my path and crowds that side of the room. I will turn left to open up the clear stretch of floor along the living room so I can move without being blocked by the seating.", + "With this heading the bare wood floor runs clear ahead toward the far seating area, and the door now sits off at the right edge of my view. Stepping forward should carry me past the loveseat and into open space where I can swing back toward the door.", + "The floor in front of me is still empty, with the brown sectional and window well beyond my next step. I will advance again to reach the open middle of the room, since the door lies to my right and I need clearance before turning toward it.", + "I am now in the open part of the room, but my heading points at the far window and sectional rather than at the target. Turning right should bring the white door and its side windows back into my view so I can line up an approach.", + "The white paneled door with its two flanking windows has come into view, but it sits well over on my right side rather than in front of me. I will turn right once more to bring it closer to the center of my heading before walking toward it.", + "The white door is now roughly ahead of me with its side windows and the potted plant beside it clearly in view, and the floor between us is empty. I will step forward to close the remaining distance across the room.", + "I am much closer to the white door now, but it still sits a little right of straight ahead, with the dresser and television off to my left. A short turn right should square my heading with the door before I close the last of the distance.", + "The white door now sits centered in front of me with its brass knob and both narrow side windows in plain view, and only bare floor lies between us. I will step forward to finish closing on it.", + "The white paneled door now fills most of my view with its brass knob clearly visible slightly left of center, so I am nearly square to it. I will step forward again to close the remaining gap between me and the door.", + "After that step I ended up very close and offset, with only the right-hand edge of the white door's panels at the left of my view while the narrow sidelight window occupies the center. I will turn left to bring the door itself back to the middle of my view before making any further approach.", + "The white door is now centered ahead of me with its knob and lever handle plainly in view at arm level. I will take one more short step forward to finish closing on it and stand directly at the door.", + "The white door's panel and its brass knob and handle fill my view directly in front of me. The task is complete, so I stop here at the door." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003820_y-000324_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003820_y-000324_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f96a3d68ecba6e488e2ecfe298d94548ca30d4a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003820_y-000324_z000168_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "Follow the striped runner through the living room to the white door at the far end and open it.", + "Type": 4, + "Start_Pose": [ + 3820.237, + -323.957, + 168.15, + 0.0, + -84.093, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3820.237, + -323.957, + 168.15, + 0.0, + -84.093, + 0.0 + ], + [ + 3833.19, + -449.148, + 168.15, + 0.0, + -84.093, + 0.0 + ], + [ + 3833.19, + -449.148, + 168.15, + 0.0, + -109.093, + 0.0 + ], + [ + 3792.021, + -568.083, + 168.458, + 0.0, + -109.093, + 0.0 + ], + [ + 3792.021, + -568.083, + 168.458, + 0.0, + -134.093, + 0.0 + ], + [ + 3704.445, + -658.476, + 168.752, + 0.0, + -134.093, + 0.0 + ], + [ + 3616.869, + -748.87, + 168.315, + 0.0, + -134.093, + 0.0 + ], + [ + 3529.293, + -839.263, + 168.315, + 0.0, + -134.093, + 0.0 + ], + [ + 3529.293, + -839.263, + 168.315, + 0.0, + -109.093, + 0.0 + ], + [ + 3488.125, + -958.199, + 168.315, + 0.0, + -109.093, + 0.0 + ], + [ + 3446.956, + -1077.134, + 168.315, + 0.0, + -109.093, + 0.0 + ], + [ + 3405.787, + -1196.069, + 168.315, + 0.0, + -109.093, + 0.0 + ], + [ + 3405.787, + -1196.069, + 168.315, + 0.0, + -84.093, + 0.0 + ], + [ + 3418.562, + -1298.347, + 168.15, + 0.0, + -84.093, + 0.0 + ], + [ + 3418.562, + -1298.347, + 168.15, + 0.0, + -84.093, + 0.0 + ], + [ + 3418.562, + -1298.347, + 168.15, + 0.0, + -84.093, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner starts just ahead of me on the floor and leads out of this hallway toward the open living room, where a pale door is visible on the far wall past the seating area. I will step forward along the runner to begin closing the distance toward that far end.", + "The cabinetry on my right walls off that side, while the runner and the open living room floor continue off to my left. I will turn left so my heading follows the runner instead of the wall of cabinets.", + "Now the living room opens up straight ahead with the runner running forward beneath me and clear floor between me and the seating group. I will walk forward to enter the room and keep making distance toward the far wall.", + "The sofa, armchair and low table sit directly along my forward line, and the fireplace crowds the right side of the room. I will turn left to take the wide open lane down the left side of the living room, which should keep a clear walking path toward the far end.", + "My heading is now down the open left side of the room, with a doorway edge close on my left and unobstructed floor stretching ahead. I will step forward through this gap to keep advancing toward the far wall where the pale door stands.", + "The far wall is now clearly in view with a light door flanked by two narrow sidelight windows, and nothing stands between me and it. I will continue forward to shorten the remaining distance to that door.", + "The door with its two sidelights is getting noticeably larger ahead of me and sits a little to the right of my heading. I will take another step forward to close in before fine tuning my facing.", + "I am close to the far wall now, but the pale door with its brass handle sits to the right of my forward line while empty wall fills the center of my view. I will turn right to bring the door toward the middle of my heading before stepping in further.", + "The white door with its narrow flanking windows now sits near the center of my view at the far end of this living room, with clear open floor between me and it. I will step forward to close that distance while my heading stays on the door.", + "The door has grown larger and stays roughly centered ahead, so my current heading is still carrying me straight toward it. I will continue walking forward to reach interaction distance.", + "I can now see the brass knob and lever on the white door clearly, but I am still a couple of steps short of being able to reach it. Another forward step should bring me close enough to work the handle.", + "At this close range the door panel has shifted into the right half of my view while the sidelight window and plant crowd the left. I will turn right to square my facing onto the door leaf and its handle before reaching for it.", + "The white door is now centered in front of me with the lever handle plainly visible, but there is still a small gap before I am within arm's reach. I will take one short step forward to settle into a position where the handle should be reachable.", + "I am right up against the white door, close enough that its panel moulding fills my view, which means the handle is within reach. I will operate the door now and it should swing open.", + "The white door stands open with the patio and yard visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003850_y001221_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003850_y001221_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..754373c23228645a2fb3285df3e7df30e11c8a27 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003850_y001221_z000168_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the far right window.", + "Type": 2, + "Start_Pose": [ + 3849.805, + 1220.87, + 168.149, + -0.301, + 168.173, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3849.805, + 1220.87, + 168.149, + -0.301, + 168.173, + 0.0 + ], + [ + 3849.805, + 1220.87, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3727.654, + 1205.248, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3605.108, + 1176.566, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3605.108, + 1176.566, + 168.149, + -0.301, + -141.827, + -0.0 + ], + [ + 3505.407, + 1100.476, + 168.149, + -0.301, + -141.827, + -0.0 + ], + [ + 3406.465, + 1022.692, + 168.942, + -0.301, + -141.827, + -0.0 + ], + [ + 3406.465, + 1022.692, + 168.942, + -0.301, + -166.827, + -0.0 + ], + [ + 3283.92, + 994.01, + 168.174, + -0.301, + -166.827, + -0.0 + ], + [ + 3161.374, + 965.328, + 168.174, + -0.301, + -166.827, + -0.0 + ], + [ + 3043.005, + 949.672, + 168.149, + -0.301, + -166.827, + -0.0 + ], + [ + 3043.005, + 949.672, + 168.149, + -0.301, + 168.173, + -0.0 + ], + [ + 2920.011, + 966.526, + 168.149, + -0.301, + 168.173, + -0.0 + ], + [ + 2920.011, + 966.526, + 168.149, + -0.301, + 168.173, + -0.0 + ] + ], + "Rationale": [ + "Along the far wall the run of windows ends on the right with the bay beside the dining table under the chandelier, so that bay is the window I am going to. My current heading points across the kitchen counter toward the couch instead. I turn right to bring the open floor leading toward that end of the house into my path.", + "The floor past the end of the counter is clear and runs straight toward the far side of the room. The dining bay I am heading for sits ahead and a little to my left. I walk forward to cut the distance across this open space.", + "The bay windows beside the dining table have grown noticeably larger, but they are still well across the room. Nothing blocks the floor between me and them. I keep walking forward.", + "The dining table and its chairs now lie directly in my forward line, while open floor and the archway stay to my right. Turning right swings me toward the right side of the room, which is the side the window I want sits on. That should let me approach it without pushing through the seating.", + "My heading now runs down the open floor beside the partition, with the dining nook and its windows off to my left. Walking forward carries me further along toward the right end of the room. I step ahead on this clear line.", + "The dining table has slid further to my left and the column at the edge of the nook is close. Another step forward should bring me level with the bay window I am after rather than short of it. The floor ahead remains open.", + "I am now abreast of the nook, with its wall, pictures and small side table filling my left and the corridor windows off to my right. The bay beside the dining table is my target, so I turn left to put it in front of me.", + "The bay windows now sit squarely ahead of me, past the dining table under the chandelier. I still have several paces of clear floor along the right side of the table. I walk forward to close on the window.", + "The bay's panes now fill the left of my view past the end of the table, and the low sideboard marks the wall on my right. A couple of paces of open floor still separate me from the sill. I keep walking to close that gap.", + "The corner of the bay and its narrow angled pane are close ahead, with a chair and the table edge just off to my left. Another short step should bring me right up against the window wall. I advance.", + "I am at the window wall now, but the wide glass sits off to my left while blank plaster fills my right. Turning left should put the bay's main panes squarely in front of me rather than the corner return.", + "The bay's twin panes are centered ahead, showing the picket fence and the house across the way. Only a short pace of floor remains below the sill. I step forward to stand right at the glass.", + "The window's glass fills my view from arm's length, with the yard beyond. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003865_y-000264_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003865_y-000264_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d981075538b9a045df2b537219c54c9640da8f9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003865_y-000264_z000468_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door to the left of the small console table.", + "Type": 4, + "Start_Pose": [ + 3864.685, + -264.271, + 468.15, + 0.0, + -161.728, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3864.685, + -264.271, + 468.15, + 0.0, + -161.728, + 0.0 + ], + [ + 3745.172, + -303.731, + 468.943, + 0.0, + -161.728, + 0.0 + ], + [ + 3625.659, + -343.192, + 468.943, + 0.0, + -161.728, + 0.0 + ], + [ + 3625.659, + -343.192, + 468.943, + 0.0, + -161.728, + 0.0 + ], + [ + 3596.958, + -376.199, + 468.53, + 0.0, + -161.728, + 0.0 + ], + [ + 3596.958, + -376.199, + 468.53, + 0.0, + -161.728, + 0.0 + ], + [ + 3596.958, + -376.199, + 468.53, + 0.0, + -161.728, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits ahead of me in the wall, with the small console table and its plant to its right, matching the target described in the task. It is still several steps away, so I will move forward to close the gap before I can reach its handle.", + "The paneled door now fills much of my view and the brass lever on its right side is clearly visible, but I am still standing back from the door face. I will advance again to bring the handle into comfortable interaction range.", + "I am directly in front of the door with its panels and the brass lever handle plainly in view near the frame edge. This looks close enough to grasp, so I will attempt to open the door now.", + "My attempt to open the door left it shut, with the leaf and lever unchanged in front of me. The handle may still be just outside my effective reach, so I will step forward a little to tighten the distance to it.", + "After stepping closer, the keyed knob and lever now fill the center of my view at arm's length, much nearer than when my earlier attempt left the door shut. From this tighter position I will try opening the door again, which should now engage the handle.", + "The doorway now stands clear, showing the room beyond with its desk, chair, and window. The door is open, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003871_y-000818_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003871_y-000818_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e46e1fc73846d60322d33d206ebff54ae51d459 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003871_y-000818_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white paneled door on the left side of the kitchen area.", + "Type": 4, + "Start_Pose": [ + 3870.557, + -818.083, + 168.15, + 0.0, + 161.589, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3870.557, + -818.083, + 168.15, + 0.0, + 161.589, + -0.0 + ], + [ + 3751.14, + -778.333, + 168.88, + 0.0, + 161.589, + -0.0 + ], + [ + 3631.723, + -738.583, + 168.88, + 0.0, + 161.589, + -0.0 + ], + [ + 3554.414, + -701.142, + 168.15, + 0.0, + 161.589, + -0.0 + ], + [ + 3554.414, + -701.142, + 168.15, + 0.0, + 136.589, + -0.0 + ], + [ + 3551.597, + -620.537, + 168.15, + 0.0, + 136.589, + -0.0 + ], + [ + 3551.597, + -620.537, + 168.15, + 0.0, + 161.589, + -0.0 + ], + [ + 3551.597, + -620.537, + 168.15, + 0.0, + -173.411, + 0.0 + ], + [ + 3551.597, + -620.537, + 168.15, + 0.0, + -173.411, + 0.0 + ], + [ + 3551.597, + -620.537, + 168.15, + 0.0, + -173.411, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the entry area I can see a white paneled door set into the left wall ahead of me, with the living room opening off to the right. Since the door is the target and it is still several steps away, I will move forward to close the gap along the open floor.", + "The paneled door is now noticeably larger and centered slightly left in my view, so my heading is carrying me toward it. Nothing blocks the floor ahead, so I will keep moving forward to reach interaction distance.", + "The door leaf and its brass knob now fill much of the left side of my view, but I am still slightly short of a comfortable reach. I will advance once more to bring the latch area within arm's length.", + "At this close range I am looking mostly at bare door panel and the frame edge on my right, so the knob has slipped out of my view to the left. I will turn left to bring the handle side of the door back into the center of my view for alignment.", + "The knob and lever handle are visible on the left of the door face, confirming I am facing the correct panel. I will step forward a little to settle at a distance where the latch should be within reach.", + "My view is now very close to the jamb and trim, with the door edge and frame crowding the right side and the handle out of sight. I will turn right to swing my heading back onto the latch region of the door face.", + "The keyhole and lever handle are back in view just right of center, so I am still angled toward the hinge side rather than squared with the door face. I will turn right once more to face the leaf properly with the latch just within reach.", + "I am squared up against the white paneled door with the keyhole and lever handle right at the left edge of my reach. Nothing else stands between me and the latch, so I will attempt to open the door now.", + "I see the white paneled door swung open with the room beyond it now visible in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003878_y-001190_z000491_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003878_y-001190_z000491_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af76a9b0a9e4661c5e0e7b885ff89bb2e9268e34 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003878_y-001190_z000491_t4_a/infos.json @@ -0,0 +1,84 @@ +{ + "Instruction": "Open the white paneled door to the right of the tall bathroom cabinet.", + "Type": 4, + "Start_Pose": [ + 3878.079, + -1190.381, + 491.232, + 0.0, + 102.082, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3878.079, + -1190.381, + 491.232, + 0.0, + 102.082, + -0.0 + ], + [ + 3878.079, + -1190.381, + 491.232, + 0.0, + 127.082, + -0.0 + ], + [ + 3878.079, + -1190.381, + 491.232, + 0.0, + 152.082, + -0.0 + ], + [ + 3801.613, + -1131.559, + 468.15, + 0.0, + 152.082, + -0.0 + ], + [ + 3801.613, + -1131.559, + 468.15, + 0.0, + 152.082, + -0.0 + ], + [ + 3801.613, + -1131.559, + 468.15, + 0.0, + 152.082, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this spot the tall bathroom cabinet stands at my left and the corridor door straight ahead, while only a sliver of another white paneled door with a brass handle shows at the right edge of my view. That right-hand door matches the target described relative to the cabinet, so I will turn right to bring it into view properly.", + "The white paneled door with its brass lever is now visible but still sitting off to the right side of my view, with the wall corner cutting across the center. I will turn right again so the door and its handle are centered ahead of me before I approach.", + "The closed white paneled door now fills the center of my view with its brass handle clearly on its left stile, so my heading is good. It is still a couple of steps away, so I will move forward to get within reach of the handle.", + "I am right up against the white paneled door now, with the brass lever handle and deadbolt filling the left of my view. This is the door beside the tall bathroom cabinet, so I will try the handle and push it open.", + "The doorway now stands open onto the carpeted bedroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003883_y-000149_z000468_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003883_y-000149_z000468_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..313e4cd954b9ce8b2a1512319a52cc850da48306 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003883_y-000149_z000468_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First, go to the plant on the table on the left, then go to the large plant on the right.", + "Type": 3, + "Start_Pose": [ + 3883.028, + -148.87, + 467.984, + -0.05, + -91.988, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3883.028, + -148.87, + 467.984, + -0.05, + -91.988, + -0.0 + ], + [ + 3883.028, + -148.87, + 467.984, + -0.05, + -116.988, + -0.0 + ], + [ + 3832.424, + -261.504, + 468.15, + -0.05, + -116.988, + -0.0 + ], + [ + 3775.309, + -373.657, + 468.15, + -0.05, + -116.988, + -0.0 + ], + [ + 3775.309, + -373.657, + 468.15, + -0.05, + -141.988, + -0.0 + ], + [ + 3676.147, + -451.164, + 468.822, + -0.05, + -141.988, + -0.0 + ], + [ + 3676.147, + -451.164, + 468.822, + -0.05, + -141.988, + -0.0 + ], + [ + 3676.147, + -451.164, + 468.822, + -0.05, + -116.988, + -0.0 + ], + [ + 3676.147, + -451.164, + 468.822, + -0.05, + -91.988, + -0.0 + ], + [ + 3676.147, + -451.164, + 468.822, + -0.05, + -66.988, + 0.0 + ], + [ + 3676.147, + -451.164, + 468.822, + -0.05, + -41.988, + 0.0 + ], + [ + 3769.696, + -535.361, + 468.355, + -0.05, + -41.988, + 0.0 + ], + [ + 3769.696, + -535.361, + 468.355, + -0.05, + -16.988, + 0.0 + ], + [ + 3769.696, + -535.361, + 468.355, + -0.05, + 8.012, + 0.0 + ], + [ + 3883.604, + -519.724, + 468.355, + -0.05, + 8.012, + 0.0 + ], + [ + 3883.604, + -519.724, + 468.355, + -0.05, + 8.012, + 0.0 + ] + ], + "Rationale": [ + "The small potted plant on the white console table sits at the far left edge of my view, well off my current heading. I will turn left so that table and its plant move toward the middle of my path before I walk.", + "The console table with its leafy plant now lies ahead and slightly left, with open floor and the striped rug between us. Nothing blocks the way, so I will walk forward to close that distance.", + "The plant on the white table has grown larger in my view but still stands several paces off along the left wall. The floor between us remains clear, so I will keep stepping forward toward it.", + "I am nearly level with the console table now, and its potted plant sits off to my left rather than in front of me. I will turn left so the table and plant sit squarely ahead for the last stretch.", + "The white table with its potted plant and vase is now centered ahead, only a short walk away with clear floor between. I will step forward to bring myself right up beside that plant.", + "The broad green leaves of the potted plant on the white table fill my view from barely an arm's length away. I have reached this plant on the table. I mark reaching it before setting off for the tall leafy plant standing across the room by the far wall.", + "I am right up against the table plant with this wall and picture filling my view, so nothing useful lies ahead now. The tall leafy plant I want stands back across the room, so I will turn right to start swinging my heading away from this corner toward it.", + "My view has come around onto the hallway wall and a closed door, and the tall potted plant is still not in sight. I will turn right again to keep sweeping my heading toward the open side of the room where that big plant stands.", + "My view now holds only the two pale doors and the blank wall between them, with the small white table slipping off at my left edge. The tall leafy plant standing beside its round stool is further around to my right, so I will keep pivoting right to bring that corner into view.", + "Swinging right has brought a framed picture and the end of a low console table into the right side of my view, which tells me the corner I want is just beyond. The big plant is still outside my field of view, so another right pivot should place it ahead of me.", + "The tall broad-leaved plant on its round wooden stool is now clearly in view at the right, past the console table under the long framed picture. It is still several paces off across the open floor, so I will walk forward to close that gap.", + "Walking ahead has carried me close to the wall with the long framed picture, and the plant has slid out past my right edge while the door fills my left. I will turn right to bring the plant back in front of me.", + "The leafy plant has reappeared, but only at the far right edge of my view beside the console table. Another right pivot should center it so I can walk straight in.", + "The tall plant on its round wooden stool now sits squarely ahead of me in the corner beneath the wall light. A short walk forward should bring me right up beside it.", + "The tall plant's leaves and stem fill my view at arm's length. Both destinations are reached, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003884_y-000042_z000410_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003884_y-000042_z000410_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c87a512690b091970d62e5e1e5206b14e4f414a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003884_y-000042_z000410_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the tall plant.", + "Type": 0, + "Start_Pose": [ + 3883.94, + -41.771, + 409.766, + 0.0, + -87.687, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3883.94, + -41.771, + 409.766, + 0.0, + -87.687, + 0.0 + ], + [ + 3889.019, + -167.527, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3894.099, + -293.284, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3899.178, + -419.04, + 468.15, + 0.0, + -87.687, + 0.0 + ], + [ + 3899.178, + -419.04, + 468.15, + 0.0, + -62.687, + 0.0 + ], + [ + 3899.178, + -419.04, + 468.15, + 0.0, + -62.687, + 0.0 + ] + ], + "Rationale": [ + "From this doorway I can see down the hallway, and the tall leafy plant stands on a small stool against the right wall ahead. It is far off but roughly in line with my heading, so I will move forward to begin closing that distance. The open wooden floor between us looks clear of obstacles.", + "The plant now reads much larger against the right wall, confirming I am advancing toward it. The hallway ahead is still open, so another step forward should bring me nearer to the target.", + "The plant's leaves now dominate the right side of my view and its pot and stool are clearly close by, but I am still slightly short of being beside it. I will step forward once more to finish closing the remaining gap.", + "I am now level with the plant, but my heading points down the hall at the doors, so only its outer leaves clip the right edge of my view. Turning right should bring the plant and its pot back into the center of my view for a proper facing.", + "The tall plant now fills the center of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003894_y-001624_z000150_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003894_y-001624_z000150_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fc06181baf64fbb1942fde44a339cdb96400604d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003894_y-001624_z000150_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Open the white side door along the covered patio.", + "Type": 4, + "Start_Pose": [ + 3894.357, + -1623.769, + 149.88, + 0.0, + 142.148, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3894.357, + -1623.769, + 149.88, + 0.0, + 142.148, + -0.0 + ], + [ + 3794.979, + -1546.539, + 149.88, + 0.0, + 142.148, + -0.0 + ], + [ + 3695.601, + -1469.309, + 149.88, + 0.0, + 142.148, + -0.0 + ], + [ + 3596.546, + -1395.101, + 149.883, + 0.0, + 142.148, + -0.0 + ], + [ + 3596.546, + -1395.101, + 149.883, + 0.0, + 167.148, + -0.0 + ], + [ + 3474.823, + -1395.22, + 149.883, + 0.0, + 167.148, + -0.0 + ], + [ + 3474.823, + -1395.22, + 149.883, + 0.0, + 142.148, + -0.0 + ], + [ + 3383.919, + -1396.963, + 149.883, + 0.0, + 142.148, + -0.0 + ], + [ + 3383.919, + -1396.963, + 149.883, + 0.0, + 117.148, + -0.0 + ], + [ + 3383.919, + -1396.963, + 149.883, + 0.0, + 117.148, + -0.0 + ], + [ + 3383.919, + -1396.963, + 149.883, + 0.0, + 117.148, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the near end of the covered patio I can see the white side door set into the siding ahead of me, past the shuttered windows. It is still far off, so I will move forward along the concrete walkway to close that distance.", + "The white door with its small side window is noticeably larger now, but I am still several steps short of reaching its handle. The patio ahead remains unobstructed, so I will continue forward.", + "The door is close on my right side with its knob now visible, though I am still positioned somewhat back from it along the wall. I will advance again to bring myself level with the doorway.", + "Moving straight along the wall has pushed the siding and a dark shutter across most of my view, leaving the door edge crowded at the right. I will turn right to swing my heading off the wall and out toward the open patio so the doorway stays workable ahead of me.", + "With my heading now angled away from the siding, the patio and the door frame are open ahead of me. I will step forward to draw level with the door and its lamp before facing it squarely.", + "I am now beside the white door, and its face with the brass knob sits on my left. I will turn left to bring the door front into the center of my view for the interaction.", + "The door panel now fills the left of my view but I am still standing off from it, too far to reach the handle. I will move forward a short step to close in on the door surface.", + "I am right up against the wall, with the brass handle only clipped at the far left edge and the sidelight window dominating my view. I will turn left again so the handle and the door face come into the center where I can act on them.", + "The white door's brass lever handle and deadbolt now fill the center of my view at arm's length, so I am squarely aligned with the latch. This is the right distance and heading to act, so I will trigger the door, which should swing it open.", + "The doorway now stands open with the interior room and its floor visible past the jamb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003931_y001066_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003931_y001066_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3883fab8a70c84bf70133849e33256b43d322341 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003931_y001066_z000468_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Cross the living room to the white paneled door on the right wall and open it.", + "Type": 4, + "Start_Pose": [ + 3930.628, + 1065.975, + 468.15, + 0.0, + -171.976, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3930.628, + 1065.975, + 468.15, + 0.0, + -171.976, + 0.0 + ], + [ + 3806.001, + 1048.407, + 468.15, + 0.0, + -171.976, + 0.0 + ], + [ + 3681.374, + 1030.838, + 468.15, + 0.0, + -171.976, + 0.0 + ], + [ + 3681.374, + 1030.838, + 468.15, + 0.0, + -146.976, + 0.0 + ], + [ + 3575.849, + 962.246, + 468.15, + 0.0, + -146.976, + 0.0 + ], + [ + 3470.571, + 901.661, + 468.15, + 0.0, + -146.976, + 0.0 + ], + [ + 3470.571, + 901.661, + 468.15, + 0.0, + -146.976, + 0.0 + ], + [ + 3470.571, + 901.661, + 468.15, + 0.0, + -146.976, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this end of the living room I can see the white paneled door set in the wall to my right, still far across the open carpet. Nothing blocks the floor ahead, so I will move forward to close the distance before turning toward it.", + "The paneled door on the right wall now appears larger and lower in my view, so I am closing on it but not yet beside it. I will continue straight to reach the stretch of wall where the door is, keeping the clear carpet ahead as my path.", + "I am now roughly level with the paneled door, but it sits off to my right edge while my heading still points down the room past the fireplace. I will turn right to bring the door face into the center of my view for a straight approach.", + "The white paneled door is now framed ahead and slightly right, with its handle side clearly visible. I will move forward along this heading to get within arm's reach of the handle.", + "The door now fills much of my view and its brass knob and lever are plainly visible, though I am still a step short of comfortable reach. I will advance once more to bring the handle directly in front of me.", + "The white paneled door's brass knob and lever are right in front of me at close range, so I am positioned to operate the handle. I will attempt to open the door now, which should swing it clear of the frame.", + "The paneled door stands open, revealing the tiled bathroom beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/watermills/task_x-000216_y000832_z-000031_t5_a_p/infos.json b/dataset/trajectory/watermills/task_x-000216_y000832_z-000031_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f8bfa8da60788b351cffc3674d0393a701849fe --- /dev/null +++ b/dataset/trajectory/watermills/task_x-000216_y000832_z-000031_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the jerry can.", + "Type": 5, + "Start_Pose": [ + -216.303, + 832.071, + -30.85, + 0, + 140, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -591.64, + 1482.174, + -42.874, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -216.303, + 832.071, + -30.85, + 0, + 140, + 0 + ], + [ + -216.303, + 832.071, + -30.85, + 0.0, + 115.0, + -0.0 + ], + [ + -269.493, + 946.138, + -28.77, + 0.0, + 115.0, + -0.0 + ], + [ + -322.684, + 1060.205, + -30.85, + 0.0, + 115.0, + -0.0 + ], + [ + -375.874, + 1174.272, + -30.85, + 0.0, + 115.0, + -0.0 + ], + [ + -429.064, + 1288.339, + 9.155, + 0.0, + 115.0, + -0.0 + ], + [ + -482.255, + 1402.406, + 26.473, + 0.0, + 115.0, + -0.0 + ], + [ + -482.255, + 1402.406, + 26.473, + 0.0, + 115.0, + -0.0 + ], + [ + -482.255, + 1402.406, + 26.473, + 0.0, + 115.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -591.64, + 1482.174, + -42.874, + 0.0, + 0.0, + 0.0 + ], + [ + -501.35, + 1392.828, + -3.837, + -28.202, + 165.145, + 1.862 + ], + [ + -501.35, + 1392.828, + -3.837, + -28.202, + 165.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 750.7, + 750.7, + 625.4, + 500.4, + 376.0, + 253.0, + 135.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red jerry can sitting on the grass near the stone steps, but it sits left of my current heading, offset toward the ruined archway. I will turn left so the can lines up closer to the center of my view before I start walking.", + "The jerry can now sits near the middle of my view beyond the water and the low stone steps, so my heading points at it. It is still far off, so I will walk forward along this line to close distance.", + "The red can has grown slightly larger and stays close to the center of my path, confirming this heading leads to it. The stone slabs ahead look clear of obstruction, so I will keep stepping forward.", + "The jerry can is clearly visible ahead against the mossy rock face and is noticeably nearer than before. It remains too distant to reach, so I continue advancing on the same line.", + "The can now stands out large and centered just ahead of me on the mossy ground. A couple more steps should bring it within grabbing range, so I keep walking forward.", + "The jerry can fills a good part of my view and sits slightly right of center, close but likely still short of a reliable grasp. I will take one more step forward to settle right beside it.", + "The jerry can is right at the edge of my view at the lower right, close enough that its handle and body dominate that corner. This is the range where a grasp should register, so I will attempt to pick it up.", + "The jerry can is now held in my hands rather than resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/watermills/task_x-000216_y000832_z-000031_t5_b_p/infos.json b/dataset/trajectory/watermills/task_x-000216_y000832_z-000031_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20568ddfd2a24fb202eede6e860d35dcf42fb9f6 --- /dev/null +++ b/dataset/trajectory/watermills/task_x-000216_y000832_z-000031_t5_b_p/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the wicker basket.", + "Type": 5, + "Start_Pose": [ + -216.303, + 832.071, + -30.85, + 0, + 140, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -751.524, + 877.066, + -50.53, + 90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -216.303, + 832.071, + -30.85, + 0, + 140, + 0 + ], + [ + -216.303, + 832.071, + -30.85, + 0.0, + 165.0, + -0.0 + ], + [ + -337.873, + 864.646, + -30.85, + 0.0, + 165.0, + -0.0 + ], + [ + -445.88, + 897.718, + -30.85, + 0.0, + 165.0, + -0.0 + ], + [ + -448.739, + 931.766, + -26.821, + 0.0, + 165.0, + -0.0 + ], + [ + -448.739, + 931.766, + -26.821, + 0.0, + -170.0, + 0.0 + ], + [ + -448.019, + 922.713, + -26.821, + 0.0, + -170.0, + 0.0 + ], + [ + -447.299, + 913.661, + -27.911, + 0.0, + -170.0, + 0.0 + ], + [ + -356.303, + 929.706, + -29.284, + 0.0, + -170.0, + 0.0 + ], + [ + -265.307, + 945.751, + -27.918, + 0.0, + -170.0, + 0.0 + ], + [ + -265.307, + 945.751, + -27.918, + 0.0, + -145.0, + 0.0 + ], + [ + -368.405, + 873.561, + -29.251, + 0.0, + -145.0, + 0.0 + ], + [ + -471.502, + 801.372, + 22.216, + 0.0, + -145.0, + 0.0 + ], + [ + -471.502, + 801.372, + 22.216, + 0.0, + -170.0, + 0.0 + ], + [ + -471.502, + 801.372, + 22.216, + 0.0, + 165.0, + -0.0 + ], + [ + -593.073, + 833.946, + 26.581, + 0.0, + 165.0, + -0.0 + ], + [ + -593.073, + 833.946, + 26.581, + 0.0, + 165.0, + -0.0 + ], + [ + -593.073, + 833.946, + 26.581, + 0.0, + 165.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -751.524, + 877.066, + -50.53, + 90.0, + 0.0, + 0.0 + ], + [ + -598.01, + 813.162, + -13.62, + -28.202, + -144.855, + 1.862 + ], + [ + -598.01, + 813.162, + -13.62, + -28.202, + -144.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 537.1, + 537.1, + 413.8, + 306.3, + 307.7, + 307.7, + 306.9, + 306.4, + 398.7, + 491.0, + 491.0, + 383.1, + 290.1, + 290.1, + 290.1, + 164.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The round woven basket sits against the planters on the right side of my view, well off my current heading. I will turn right to bring it toward the center so I can walk straight at it instead of angling across the mossy channel.", + "The basket now sits ahead of me under the arcade, leaning against the low planters, but it is still far across the sunken grassy strip. My heading looks clear toward it, so I will step forward to close a large part of that distance.", + "The basket has grown noticeably larger and stays near the middle of my view, confirming I am tracking straight toward it. The paved area in front of the arches is still several strides away, so I will keep walking forward.", + "The basket is close now, resting on the flagstones just right of the pillar, but the raised planter ledge and thick ferns crowd the ground directly in front of me. I will push forward once more to reach a spot where the basket is within arm's reach.", + "My last stride barely carried me forward and the basket looks no nearer, so the ledge and planting in front of me are holding me up. The basket sits to the right of the pillar, so I will turn right to face it directly and look for ground I can actually walk on.", + "The round woven basket sits on the flagstones ahead, resting against the base of the arch to my left of center. My heading now points into that paved court, so I will step forward to close the remaining distance toward it.", + "My last step barely changed my viewpoint, since the basket and the lattice gate look almost exactly the same size and position as before. Something low in front of me seems to be holding me in place, so I will push forward once more to test whether the route ahead is passable.", + "Two forward steps have produced almost no gain, so the low stone edging and dense ferns directly in front are clearly blocking this line of approach. I will back up to break contact with that barrier and open room to reconsider my route to the basket.", + "Backing up has widened my view of the arcade, but I am still close to the planted ledge that stopped my advance. I will step back once more to gain enough clearance to turn freely and look for an opening around it.", + "From this pulled back position the ledge and ferns still cut straight across the direct line to the basket, so a frontal approach is not available. I will turn right to scan the open paving on that side for a way around the barrier.", + "My straight approach earlier stalled short of the basket at the raised planter ledge, so I have swung right onto the open paving that runs beside it. The flagstone route ahead is clear, with the basket now off to my left. I will walk forward along this passable line to get past that ledge.", + "The paving in front of me is still open and the basket now lies well to my left, past the low wall that stopped my earlier direct line. I have not yet come far enough along to have a clean opening back toward it. Another step forward should carry me clear of that barrier.", + "Advancing has carried me alongside the arcade, and the basket has passed out of view behind my left shoulder. From here the ledge that blocked my earlier straight approach should no longer stand between us. I will turn left to bring the basket back into my view.", + "The turn has brought the wicker basket back into sight, sitting on the paving toward the left of my view. It is still too far off-center for a straight walk in. I will turn left once more to put my heading on it.", + "The wicker basket now sits ahead of me, just left of center on clear flagstones with nothing in between. The remaining gap is still too large for a reliable grasp. I will step forward to close in on it.", + "The woven basket now fills the lower part of my view, resting on the paving right in front of me, well within arm's reach. Nothing stands between me and it, so this is the moment to reach out. I will attempt the grasp and expect the basket to come into my hands.", + "The wicker basket is held in my hands, no longer on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/watermills/task_x-000252_y000895_z-000024_t5_a_p/infos.json b/dataset/trajectory/watermills/task_x-000252_y000895_z-000024_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..82b0a65eb28f6daed86120e2728f93884c7e8405 --- /dev/null +++ b/dataset/trajectory/watermills/task_x-000252_y000895_z-000024_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the trash bag near the stone ledge near the column on the right.", + "Type": 5, + "Start_Pose": [ + -252.49, + 894.749, + -23.899, + 0, + -140, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -345.978, + 403.233, + 8.128, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -252.49, + 894.749, + -23.899, + 0, + -140, + 0 + ], + [ + -252.49, + 894.749, + -23.899, + 0.0, + -115.0, + 0.0 + ], + [ + -305.68, + 780.682, + -31.07, + 0.0, + -115.0, + 0.0 + ], + [ + -358.871, + 666.615, + -30.85, + 0.0, + -115.0, + 0.0 + ], + [ + -358.871, + 666.615, + -30.85, + 0.0, + -90.0, + 0.0 + ], + [ + -358.871, + 540.756, + 15.298, + 0.0, + -90.0, + 0.0 + ], + [ + -358.871, + 540.756, + 15.298, + 0.0, + -90.0, + 0.0 + ], + [ + -358.871, + 540.756, + 15.298, + 0.0, + -90.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -345.978, + 403.233, + 8.128, + 0.0, + 0.0, + 0.0 + ], + [ + -345.978, + 403.233, + 8.128, + 0.0, + 0.0, + 0.0 + ], + [ + -345.978, + 403.233, + 8.128, + 0.0, + 0.0, + 0.0 + ], + [ + -345.978, + 403.233, + 8.128, + 0.0, + 0.0, + 0.0 + ], + [ + -345.978, + 403.233, + 8.128, + 0.0, + 0.0, + 0.0 + ], + [ + -345.978, + 403.233, + 8.128, + 0.0, + 0.0, + 0.0 + ], + [ + -337.517, + 541.366, + -35.934, + -28.202, + -39.856, + 1.862 + ], + [ + -337.517, + 541.366, + -35.934, + -28.202, + -39.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 500.3, + 500.3, + 379.6, + 263.7, + 263.7, + 138.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The pale trash bag sits far off at the right edge of my view, resting on the mossy terrace beside the ivy-covered column. My heading points at the archway instead, so I will turn right to bring the bag toward the center of my view before walking.", + "The bag now sits ahead and slightly right, above the stone steps beside the ivy-covered column. The path over the flagstones toward those steps looks clear, so I will walk forward to close the long gap.", + "The bag has grown noticeably larger and the stone stairway leading up to its ledge is right in front of me. I am still several paces short of grasping range, so I will keep walking forward toward the steps.", + "I have closed most of the distance, but the trash bag has drifted to the right side of my view while my heading favors the lit archway. Turning right should square my body onto the bag so a straight approach ends within reach.", + "The trash bag is now centered ahead, sitting on the mossy strip against the lattice door between the columns. It is still a couple of paces away, so I will step forward to bring it within grabbing range.", + "The trash bag now fills the middle of my view, close enough that its folds and tied top are plainly detailed. Nothing stands between me and it, so I will attempt to pick it up from the ledge.", + "The trash bag is now held in my hands, no longer resting on the ledge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/watermills/task_x-000252_y000895_z-000024_t5_b_p/infos.json b/dataset/trajectory/watermills/task_x-000252_y000895_z-000024_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffdd6372009516e8ec04b8aa921d8760d5ede14 --- /dev/null +++ b/dataset/trajectory/watermills/task_x-000252_y000895_z-000024_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + -252.49, + 894.749, + -23.899, + 0, + -140, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -787.59, + 598.626, + -14.443, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -252.49, + 894.749, + -23.899, + 0, + -140, + 0 + ], + [ + -348.904, + 813.848, + -29.71, + 0.0, + -140.0, + 0.0 + ], + [ + -445.317, + 732.948, + 0.223, + 0.0, + -140.0, + 0.0 + ], + [ + -541.372, + 663.858, + 26.45, + 0.0, + -140.0, + 0.0 + ], + [ + -541.372, + 663.858, + 26.45, + 0.0, + -140.0, + 0.0 + ], + [ + -541.372, + 663.858, + 26.45, + 0.0, + -165.0, + 0.0 + ], + [ + -662.942, + 631.595, + 17.47, + 0.0, + -165.0, + 0.0 + ], + [ + -662.942, + 631.595, + 17.47, + 0.0, + -165.0, + 0.0 + ], + [ + -662.942, + 631.595, + 17.47, + 0.0, + -165.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -787.59, + 598.626, + -14.443, + 0.0, + 0.0, + 0.0 + ], + [ + -656.826, + 611.127, + -13.449, + -28.202, + -114.855, + 1.862 + ], + [ + -656.826, + 611.127, + -13.449, + -28.202, + -114.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 611.6, + 488.6, + 367.7, + 254.7, + 254.7, + 254.7, + 128.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits far ahead on the left, resting in the ferns at the base of the stone wall beside the lattice gate. It is much too distant to reach from here, so I will walk forward along the open ground to close that gap.", + "The tomato now appears noticeably larger against the wall on my left, confirming my heading is bringing me closer. Still well out of arm's reach, so I will keep walking forward.", + "The tomato is clearly visible at the left edge of my view, close to the pillar base, but a tall shrub fills the ground directly in front of me. Another step forward should bring me within grasping range of it.", + "The tomato now sits large in the lower left of my view among the ferns, seemingly within arm's reach. I will attempt to grasp it from here rather than spend another step approaching.", + "That grasp attempt did not take hold; my hands are empty. The tomato sat off to my left rather than straight ahead. I will turn left to bring it centered in front of me for a better approach.", + "My earlier grasp attempt left my hands empty, and the tomato still sits untouched in the ground cover ahead of me. It is now centered in front of me but clearly still several paces off, too far to reach. I will walk forward to close that remaining gap before trying again.", + "The tomato now fills the lower edge of my view, close against the ferns at my feet, far nearer than when my previous grasp came up empty. At this range it should fall inside my reach. I will attempt to pick it up.", + "The tomato is now held in my hands. The task is complete, so I stop here." + ] +}